For a PS-only restart, the entire processor system is reset while PL continues to function. Prior to invoking PS-only reset, PMU turns on isolation between PS and PL, thus clamping the signals between them in well-defined states. After PS-only reset is released, PS executes the standard boot process starting from the PMU ROM, followed by CSU ROM, then FSBL and so on. During FSBL, the isolation between PS and PL is removed.
PS-only reset can be initiated by Linux command or watchdog timeout or PMU error management block. If you are interested in PS-only reset without APU/RPU subsystem restart, subsystem/isolation configuration is not required. Linux commands for setting reboot type and reboot will work without additional modifications.