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 behaviour 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. Some examples are included to illustrate its practical use.