N. Sadegh, SYNTHESIS OF A STABLE DISCRETE-TIME REPETITIVE CONTROLLER FOR MIMO SYSTEMS, Journal of dynamic systems, measurement, and control, 117(1), 1995, pp. 92-98
This paper presents some new results on synthesis and stability analys
is of a class of repetitive controllers for discrete-time multi-input
multi-output (MIMO) linear time-invariant (LTI) systems. In particular
, the necessary and sufficient conditions for exponential stability of
the resulting closed-loop systems are derived. A simulation case stud
y featuring a flexible mechanical system is also presented.