A new optimality based repetitive control algorithm for discrete-time systems

In this paper it is shown that discretisation of a class of well-known continuous-time repetitive control algorithms will destroy stability. In order to overcome this problem, a new optimality based Repetitive Control algorithm is proposed for discrete-time systems. Under mild technical conditions on the plant the algorithm will result in asymptotic convergence for an arbitrary T-periodic reference signal and an arbitrary discrete-time linear time-invariant plant. Simulations highlight the different theoretical findings in this paper.