Abstract
We investigate some robustness compromises involved in achieving disturbance rejection for periodic disturbances. We consider asymptotic rejection or attenuation of disturbance harmonics and transient response. Robustness is measured with respect to uncertainty in the gap metric.
Keywords: Repetitive Control, Robustness, Transient Response, $H_{\infty}$ Loop Shaping, Pole Placement, Gap Metric, Induced Norms.