A repetitive controller can be obtained by designing a zero phase shift low pass filter. With the help of digital signal processing and software tools, it is easy to design a satisfactory controller.

该方法将控制器的设计转化为零相移低通数字滤波器的设计问题，借助于数字信号处理的理论和工具直接得到所需的控制器参数。

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This paper discusses an all digital phase-locked loop with a zero-crossing detector and a loop filter.

本文讨论的全数字锁相环包括过零检测器和环路滤波器。

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