  Industrial PID consists of three elements: Lag (integrator), Lead
(Differentiator) and Low Pass Filters (LPF). PID being a linear control method
is inherently bounded by the waterbed effect due to which there exists a
trade-off between precision \& tracking, provided by Lag and LPF on one side
and stability \& robustness, provided by Lead on the other side. Nonlinear
reset strategies applied in Lag and LPF elements have been very effective in
reducing this trade-off. However, there is lack of study in developing a reset
Lead element. In this paper, we develop a novel lead element which provides
higher precision and stability compared to the linear lead filter and can be
used as a replacement for the same. The concept is presented and validated on a
Lorentz-actuated nanometer precision stage. Improvements in precision, tracking
and bandwidth are shown through two separate designs. Performance is validated
in both time and frequency domain to ensure that phase margin achieved on the
practical setup matches design theories.
