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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2026  > In Press, Accepted Manuscript
J. She, S. Hara, Q.-L. Han, L. Zhou, and M. Wu, “Repetitive control: Basic concept, fundamental theory, and practical applications,” IEEE/CAA J. Autom. Sinica, vol. 13, no. 2, pp. 1–16, Feb. 2026. doi: 10.1109/JAS.2025.125297
Citation: J. She, S. Hara, Q.-L. Han, L. Zhou, and M. Wu, “Repetitive control: Basic concept, fundamental theory, and practical applications,” IEEE/CAA J. Autom. Sinica, vol. 13, no. 2, pp. 1–16, Feb. 2026. doi: 10.1109/JAS.2025.125297
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Repetitive Control: Basic Concept, Fundamental Theory, and Practical Applications

doi: 10.1109/JAS.2025.125297
Funds:  This work was supported in part by the Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research (B) (23K25252, 24K03325), the National Natural Science Foundation of China (61873348), and the Natural Science Foundation of Hubei Province, China (2020CFA031)
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    Abstract
  • As a closed-loop learning control method, repetitive control has been widely used in a variety of areas from appliances to aviation. A repetitive control system features perfect reference tracking and disturbance rejection in the steady state for periodic signals with a fixed period. This characteristic is important not only for conventional technologies and conventional industries but also for advanced technologies and emerging industries. This paper first explains the concept of repetitive control from its original idea. Next, it describes the structure of a repetitive controller as an internal model and shows the respective points of continuous- and discrete-time repetitive control. It presents a categorized list of practical applications of repetitive control. Moreover, two concrete applications, namely the control of a robotic manipulator and a rotating system, demonstrate the validity of the method with experimental results. Several current studies in this field are also reviewed, and some challenges and future studies for repetitive control are provided.

     

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