Repetitive controller design in parameter space

A new and simple repetitive controller design procedure in controller parameter space is presented. The structure of the filters in the repetitive controller are fixed from the start and parameters within these filters are tuned using the design method. This approach results in simple and physically meaningful controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications to controller parameter plane. Sensitivity function magnitude bounds and a relative stability measure are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature