{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T08:48:05Z","timestamp":1782377285546,"version":"3.54.5"},"reference-count":31,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T00:00:00Z","timestamp":1772323200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2026,2,20]],"date-time":"2026-02-20T00:00:00Z","timestamp":1771545600000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["IFAC Journal of Systems and Control"],"published-print":{"date-parts":[[2026,3]]},"DOI":"10.1016\/j.ifacsc.2026.100392","type":"journal-article","created":{"date-parts":[[2026,2,23]],"date-time":"2026-02-23T16:25:03Z","timestamp":1771863903000},"page":"100392","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["The waterbed effect on quasiperiodic disturbance observer: Avoidance of sensitivity tradeoff with time delays"],"prefix":"10.1016","volume":"35","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1446-5389","authenticated-orcid":false,"given":"Hisayoshi","family":"Muramatsu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"key":"10.1016\/j.ifacsc.2026.100392_b1","volume":"vol. 3","author":"Ahlfors","year":"1979"},{"key":"10.1016\/j.ifacsc.2026.100392_b2","series-title":"Network analysis and feedback amplifier design","author":"Bode","year":"1945"},{"issue":"3","key":"10.1016\/j.ifacsc.2026.100392_b3","doi-asserted-by":"crossref","first-page":"96","DOI":"10.1109\/MCS.2006.1636313","article-title":"A survey of iterative learning control","volume":"26","author":"Bristow","year":"2006","journal-title":"IEEE Control Systems Magazine"},{"issue":"2","key":"10.1016\/j.ifacsc.2026.100392_b4","doi-asserted-by":"crossref","first-page":"4331","DOI":"10.1016\/j.ifacol.2023.10.1804","article-title":"Bode integral limitation for irrational systems","volume":"56","author":"Chang","year":"2023","journal-title":"IFAC-PapersOnLine"},{"issue":"2","key":"10.1016\/j.ifacsc.2026.100392_b5","doi-asserted-by":"crossref","first-page":"664","DOI":"10.1109\/TCST.2013.2253102","article-title":"New repetitive control with improved steady-state performance and accelerated transient","volume":"22","author":"Chen","year":"2014","journal-title":"IEEE Transactions on Control Systems Technology"},{"issue":"29","key":"10.1016\/j.ifacsc.2026.100392_b6","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1016\/j.ifacol.2015.11.246","article-title":"An interactive tool to introduce the waterbed effect","volume":"48","author":"Costa-Castell\u00f3","year":"2015","journal-title":"IFAC-PapersOnLine"},{"issue":"25","key":"10.1016\/j.ifacsc.2026.100392_b7","doi-asserted-by":"crossref","first-page":"97","DOI":"10.1016\/j.ifacol.2022.09.330","article-title":"Bode integral: A unifier of control-relevant integral relations","volume":"55","author":"Ding","year":"2022","journal-title":"IFAC-PapersOnLine"},{"key":"10.1016\/j.ifacsc.2026.100392_b8","series-title":"Bode\u2019s sensitivity integral constraints: The waterbed effect in discrete time","author":"Emami-Naeini","year":"2019"},{"issue":"6","key":"10.1016\/j.ifacsc.2026.100392_b9","doi-asserted-by":"crossref","first-page":"555","DOI":"10.1109\/TAC.1985.1104004","article-title":"Right half plane poles and zeros and design tradeoffs in feedback systems","volume":"30","author":"Freudenberg","year":"1985","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"2","key":"10.1016\/j.ifacsc.2026.100392_b10","doi-asserted-by":"crossref","first-page":"99","DOI":"10.1109\/TAC.1987.1104547","article-title":"A sensitivity tradeoff for plants with time delay","volume":"32","author":"Freudenberg","year":"1987","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"7","key":"10.1016\/j.ifacsc.2026.100392_b11","doi-asserted-by":"crossref","first-page":"1008","DOI":"10.1109\/9.701114","article-title":"Generalization of integral constraints on sensitivity to time-delay systems","volume":"43","author":"Gomez","year":"1998","journal-title":"IEEE Transactions on Automatic Control"},{"issue":"7","key":"10.1016\/j.ifacsc.2026.100392_b12","doi-asserted-by":"crossref","first-page":"659","DOI":"10.1109\/9.1274","article-title":"Repetitive control system: a new type servo system for periodic exogenous signals","volume":"33","author":"Hara","year":"1988","journal-title":"IEEE Transactions on Automatic Control"},{"key":"10.1016\/j.ifacsc.2026.100392_b13","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2020.104697","article-title":"Fractional order harmonic disturbance observer control for three-phase LCL-type inverter","volume":"107","author":"Lai","year":"2021","journal-title":"Control Engineering Practice"},{"issue":"3","key":"10.1016\/j.ifacsc.2026.100392_b14","doi-asserted-by":"crossref","first-page":"2037","DOI":"10.1109\/TASE.2022.3193116","article-title":"Periodic-disturbance observer using spectrum-selection filtering scheme for cross-coupling suppression in atomic force microscopy","volume":"20","author":"Li","year":"2023","journal-title":"IEEE Transactions on Automation Science and Engineering"},{"issue":"2","key":"10.1016\/j.ifacsc.2026.100392_b15","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1049\/ip-d.1990.0006","article-title":"Bode\u2019s integral theorem for discrete-time systems","volume":"137","author":"Mohtadi","year":"1990","journal-title":"IEE Proceedings D (Control Theory and Applications)"},{"key":"10.1016\/j.ifacsc.2026.100392_b16","doi-asserted-by":"crossref","DOI":"10.1016\/j.automatica.2022.110263","article-title":"Separation and estimation of periodic\/aperiodic state","volume":"140","author":"Muramatsu","year":"2022","journal-title":"Automatica"},{"issue":"5","key":"10.1016\/j.ifacsc.2026.100392_b17","doi-asserted-by":"crossref","first-page":"1895","DOI":"10.1109\/TCST.2025.3566560","article-title":"Quasiperiodic disturbance observer for wideband harmonic suppression","volume":"33","author":"Muramatsu","year":"2025","journal-title":"IEEE Transactions on Control Systems Technology"},{"issue":"10","key":"10.1016\/j.ifacsc.2026.100392_b18","doi-asserted-by":"crossref","first-page":"4446","DOI":"10.1109\/TII.2018.2804338","article-title":"An adaptive periodic-disturbance observer for periodic-disturbance suppression","volume":"14","author":"Muramatsu","year":"2018","journal-title":"IEEE Transactions on Industrial Informatics"},{"key":"10.1016\/j.ifacsc.2026.100392_b19","doi-asserted-by":"crossref","first-page":"458","DOI":"10.1016\/j.automatica.2018.12.023","article-title":"Separated periodic\/aperiodic state feedback control using periodic\/aperiodic separation filter based on lifting","volume":"101","author":"Muramatsu","year":"2019","journal-title":"Automatica"},{"key":"10.1016\/j.ifacsc.2026.100392_b20","doi-asserted-by":"crossref","DOI":"10.1016\/j.rico.2021.100036","article-title":"Some new rearrangements in sensitivity integrals and concerning inequalities with their application in control","volume":"4","author":"Nagarsheth","year":"2021","journal-title":"Results in Control and Optimization"},{"issue":"16","key":"10.1016\/j.ifacsc.2026.100392_b21","doi-asserted-by":"crossref","first-page":"8443","DOI":"10.1016\/j.jfranklin.2021.08.042","article-title":"Disturbance observer-based repetitive control with application to optoelectronic precision positioning system","volume":"358","author":"Nie","year":"2021","journal-title":"Journal of the Franklin Institute"},{"issue":"10","key":"10.1016\/j.ifacsc.2026.100392_b22","doi-asserted-by":"crossref","first-page":"2628","DOI":"10.1016\/j.automatica.2008.02.028","article-title":"Robust high-order repetitive control: Optimal performance trade-offs","volume":"44","author":"Pipeleers","year":"2008","journal-title":"Automatica"},{"key":"10.1016\/j.ifacsc.2026.100392_b23","series-title":"Proceedings of the IEEE international conference on mechatronics","first-page":"69","article-title":"Design constraints of disturbance observer in the presence of time delay","author":"Sariyildiz","year":"2013"},{"key":"10.1016\/j.ifacsc.2026.100392_b24","series-title":"Proceedings of the annual conference of IEEE industrial electronics society","first-page":"3681","article-title":"Performance and robustness trade-off in disturbance observer design","author":"Sariyildiz","year":"2013"},{"key":"10.1016\/j.ifacsc.2026.100392_b25","series-title":"Multivariable feedback control: analysis and design","author":"Skogestad","year":"2005"},{"key":"10.1016\/j.ifacsc.2026.100392_b26","doi-asserted-by":"crossref","unstructured":"Songchon,\u00a0T., & Longman,\u00a0R. (2000). Iterative learning control and the waterbed effect. In Astrodynamics specialist conference (p. 4356).","DOI":"10.2514\/6.2000-4356"},{"issue":"6","key":"10.1016\/j.ifacsc.2026.100392_b27","doi-asserted-by":"crossref","first-page":"2429","DOI":"10.1080\/00207178808906338","article-title":"Properties of sensitivity and complementary sensitivity functions in single-input single-output digital control systems","volume":"48","author":"Sung","year":"1988","journal-title":"International Journal of Control"},{"issue":"2","key":"10.1016\/j.ifacsc.2026.100392_b28","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1299\/mej.22-00362","article-title":"Infinite-impulse-response periodic-disturbance observer for harmonics elimination with wide band-stop bandwidths","volume":"10","author":"Tanaka","year":"2023","journal-title":"Mechanical Engineering Journal"},{"issue":"10","key":"10.1016\/j.ifacsc.2026.100392_b29","doi-asserted-by":"crossref","first-page":"1589","DOI":"10.1016\/j.jprocont.2009.09.006","article-title":"Survey on iterative learning control, repetitive control, and run-to-run control","volume":"19","author":"Wang","year":"2009","journal-title":"Journal of Process Control"},{"issue":"11","key":"10.1016\/j.ifacsc.2026.100392_b30","doi-asserted-by":"crossref","first-page":"1797","DOI":"10.1109\/9.173154","article-title":"A simplified approach to bode\u2019s theorem for continuous-time and discrete-time systems","volume":"37","author":"Wu","year":"1992","journal-title":"IEEE Transactions on Automatic Control"},{"key":"10.1016\/j.ifacsc.2026.100392_b31","doi-asserted-by":"crossref","DOI":"10.1016\/j.conengprac.2022.105407","article-title":"Adaptive periodic-disturbance observer based composite control for SGCMG gimbal servo system with rotor vibration","volume":"132","author":"Yang","year":"2023","journal-title":"Control Engineering Practice"}],"container-title":["IFAC Journal of Systems and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S2468601826000325?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S2468601826000325?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T08:05:35Z","timestamp":1782374735000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S2468601826000325"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,3]]},"references-count":31,"alternative-id":["S2468601826000325"],"URL":"https:\/\/doi.org\/10.1016\/j.ifacsc.2026.100392","relation":{},"ISSN":["2468-6018"],"issn-type":[{"value":"2468-6018","type":"print"}],"subject":[],"published":{"date-parts":[[2026,3]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"The waterbed effect on quasiperiodic disturbance observer: Avoidance of sensitivity tradeoff with time delays","name":"articletitle","label":"Article Title"},{"value":"IFAC Journal of Systems and Control","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.ifacsc.2026.100392","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 The Author(s). Published by Elsevier Ltd.","name":"copyright","label":"Copyright"}],"article-number":"100392"}}