This work develops a digital repetitive plug-in controller for odd-harmonic discrete-time periodic references and disturbances. The controller presents a novel structure and it has a lower data memory occupation than the usual repetitive controllers because it takes advantage of the particular characteristics of the signals to track or attenuate. A sufficient criterion of stability. several hints for its practical application and an example are also included included in the work. (C) 2004 Elsevier Ltd. All rights reserved.