  The precision motion industry has an ever-increasing demand for faster, more
precise and more robust controllers. From the perspective of frequency domain
and loopshaping technique, this demand has pushed the linear controllers to
their inherent limits, namely, the waterbed effect and Bode's phase-gain
relationship. Mathematically, complex-order transfer functions are not bound by
Bode's phase-gain relationship. However, implementing them in practice is a
challenge to be solved. This extended abstract will show review the previous
work of the authors in shaping nonlinearities in reset controllers and
contribute and propose an overall architecture for reset control systems to
approximate complex order controllers.
