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The author considers two basic problems with repetitive control: the tight stability condition and the poor noise characteristics. He presents three techniques for a practical repetitive controller design: stabilizing compensation by an inverse phase system, band limitation of the control, and smoothing of the control signal over periods of repetitive operation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Tadashi Inoue (1990) studied this question.
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