重复控制的基本思想是控制理论中的内模原理，根据上一周期的控制误差消除后面各周期性的信号误差。
The repetitive controller based on the theory of internal model produces correction signal based on the control error of the last cycle to eliminate the error in the latter cycle.
直接学习控制能够充分利用系统的先前控制经验，直接产生期望控制信号，不需要任何重复的学习过程。
Direct learning control(DLC) can fully utilize the pre-stored control profiles and it can directly generate the desired control without any repetitive learning process.
为跟踪或抑制仅周期已知的未知周期参考或扰动信号，提出一种新的重复学习控制方法。
A novel repetitive learning control method is proposed for the tracking or rejection of unknown periodic reference or disturbance with a known period.
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