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    This study introduces a novel filter design for repetitive control systems, enhancing both speed and accuracy. The method optimizes performance by minimizing errors without widening bandwidth, improving tracking and reducing energy use.

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    Area of Science:

    • Control Systems Engineering
    • Signal Processing

    Background:

    • Repetitive control systems require low-pass filters for stability.
    • Conventional filters degrade tracking accuracy due to gain attenuation and phase lag.

    Purpose of the Study:

    • To present a new filter design and optimization method for continuous-time repetitive-control systems.
    • To improve both transient response and steady-state tracking accuracy.

    Main Methods:

    • Rigorous analysis of conventional filter characteristics.
    • Design of a new filter structure for precise compensation at fundamental frequency.
    • Development of a multiobjective optimization framework using dual performance indices.

    Main Results:

    • The new filter precisely compensates for gain attenuation and phase delay without increasing bandwidth.
    • A guideline for selecting filter parameters for periodic trajectories is provided.
    • Optimal balance achieved between transient convergence and control energy efficiency.

    Conclusions:

    • The proposed method effectively enhances repetitive control system performance.
    • Experimental validation confirms the superiority of the new design over conventional approaches.