A control design method of repetitive control systems using free parameter

We examine robust repetitive control systems. The robust repetitive control design method of past studies must solve the /spl mu/ analysis problem. In the present paper, we give a design method of robust repetitive control systems without solving the /spl mu/ analysis problem. This method uses the free parameter of the controllers designed based on H/sub /spl infin// control theory. We give a simple design method of the free parameter for the admissible repetitive controller.