Abstma--Repelilive control method is well known for Its high performances in feedback systems that are subject to periodic exogenoos inputs. This paper reviews the theory and applications of repetitive cootroi based on bath the internal model and external model, together with some repetitive control methods for nonlinear plants. Kcywordwqetitiw conhol; firne-de&y inrcmal modeI; /%die &emfond rrpetirive conIrol; & m l model rq&e conhol; nodinearphfs
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