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.
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 method consists of real-time estimation of signal frequency, synchronous tracking of sampling frequency and error correction of harmonic coefficients.
该方法包括信号频率实时估计、采样频率同步跟踪和谐波系数误差校正几个要素。
Signal unit error detection and correction - discards detected erroneous message and requests a re-transmission.
信令单元错误检测和校正——废弃检测到的出错消息并请求重新传输。
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