Cao and Ledwich' s proposal Cao and Ledwich, 2002 includes a system having two independent sampling periods; one is based on a loop with nominal sampling which is constant and includes the plant and a stabilising controller, while RC works with variable period using Tsao' s adaptation technique Tsao et al., 2000.
En Cao y Ledwich 2002 se propone un sistema con dos períodos de muestreo independientes, basado en un lazo con período de muestreo nominal constante conformado por la planta y un controlador estabilizante y el controlador repetitivo que funciona a período variable usando la misma técnica de adaptación de Tsao et al. 2000.