For a linear discrete system, a guaranteed cost repetitive control design method is proposed based on a discrete-time two dimensional (2D) model. First, state feedback is incorporated with repetitive control to improve the stability system (DRCS), and the repetitive control law is described as a state feedback of a 2D system. Then, the control performance of the DRCS evaluated by a given quadratic performance function is able to be guaranteed in a given bound by applying the proposed guaranteed cost repetitive control design method. Unlike the existing methods, the control action and learning ...