A repetitive controller for discrete-time passive systems

This work proposes and studies a new repetitive controller for discrete-time systems which are required to track or to attenuate periodic signals. The main characteristic of the proposed controller is its passivity. This fact implies closed-loop stable behavior when it is used with discrete-time passive plants. The work also discusses the energetic structure, the frequency response and the time response of the proposed controller structure. A numerical example is included to illustrate its practical use.