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A new paradigm of digital signal processing has recently been proposed in view of sampled-data control theory. This filter, called sampled-data Hinfin filter, approximates a linear phase characteristic in continuous-time domain, that is, a pure delay. By this property, we propose a new repetitive controller including the sampled-data Hinfin optimal filter. Moreover, to achieve the stability, we introduce the Internal Model Control (IMC). Our method solves the problem of stability, implementability, and inter sample ripples in digital repetitive control. A numerical example shows the effectiveness of our method.