Abstract
This report focuses on trade-offs between robustness and transient response for continuous time SISO LTI repetitive control systems. The transient is measured using various induced norms; whereas the robustness is quantified by the gap metric. In this evaluation the design tools used are $H_{\infty}$ loop shaping and closed loop pole placement. For illustration, several first and second order plants are studied. In the appendix, Maple and Matlab codes are included.
Keywords: Repetitive Control, Robustness, Transient Response, $H_{\infty}$ Loop Shaping, Pole Placement, Gap Metric, Induced Norms.