Design of repetitive learning controllers

A repetitive learning control system is an iterative learning control system where the plant is not reset at the beginning of each iteration. It has been previously shown that, under certain conditions, the eigenvalues of the closed-loop system can be arbitrarily placed for discrete-time SISO LTI plants. In this paper, we extend these sufficient conditions to MIMO, linear periodically time-varying plants. We also adapt existing methods to the design of a repetitive learning controller. These methods include: eigenvalue placement by static output feedback and stabilization using a linear matrix inequality approach