Parameter Space Design of Repetitive Controllers for Satisfying a Robust   Performance Requirement
  A parameter space procedure for designing chosen parameters of a repetitive controller to satisfy a robust performance criterion is presented. Using this method, low order robust repetitive controllers can be designed and implemented for plants that possibly include time delay, poles on the imaginary axis and discontinuous weights. A design and simulation study based on a high speed atomic force microscope position control example is utilized to illustrate the method presented in this paper. 
Burak Demirel and Levent Guvenc
cs.SY