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Sampled-date repetitive control systems

This paper presents sampled-data repetitive control systems where a discrete-time controller is designed to make a continuous-time plant track/reject continuous-time periodic signals of a given period. We propose to design the controller so that an appropriate measure of tracking is minimized. This allows the inter-sample behavior to be part of the design. Our criterion is that the power of the steady-state tracking error be minimized for the worst periodic input of unit power.