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This paper is concerned with the development of a Modified Finite Dimensional Repetitive Control (MFDRC) system. Conventional FDRC is modified through parameterization of the controller using co-prime factorization. The proposed method of controller design specifies the input output characteristics beforehand, ensuring highly accurate tracking and disturbance rejection property of the system subjected to periodic reference input. Another problem is the stabilization issues in the input–output and the disturbance rejection characteristics of a conventional repetitive control system with respect to the periodic reference input owing to have infinite number of poles in the transfer function of it. It is desirable that the transfer functions from both the reference input and the disturbance to the output have a finite number of poles and that will be taken care of in the proposed scheme of MFDRC design depicted in this paper …