Marko, L., Saxinger, M., Bittner, M., Steinboeck, A., & Kugi, A. (2020). discrete-Time Repetitive Control for Multi-Harmonic Reference Trajectories with Arbitrary Frequency⁎The financial support by the Christian Doppler Research Association, the Austrian Federal Ministry for Digital and Economic Affairs, the National Foundation for Research, Technology and Development, and voestalpine Stahl GmbH is gratefully acknowledged.. IFAC-PapersOnLine, 53(2), 1646–1651. http://access.bl.uk/ark:/81055/vdc_100165742217.0x000023