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In this paper, a dual-period repetitive control scheme is proposed to accomplish the periodic trajectory tracking task for a class of nonparametric uncertain systems with deadzone nonlinear input, and there is no common multiple between the period length of periodic disturbance and that of reference signal. A dual-period repetitive controller is designed based on the Lyapunov synthesis. The nonparametric uncertainties, deadzone nonlinearity and periodic disturbance are compensated by using dual-period repetitive control and robust control, combinedly. The fully saturated learning strategy is applied to estimate the unknown periodic disturbance. As the repetitive cycle increases, the system error converges to zero. In the end, two illustrative examples are provided to demonstrate the effectiveness of the proposed dual-period repetitive control scheme.

Dual-Period Repetitive Control for Nonparametric Uncertain Systems With Deadzone Input