This　paper　presents　a　coordinated　design　method　for　repetitive　control　systems　with　dynamic　uncertainties.　The　equivalent-input-disturbance　(EID)　method　is　applied　to　improve　the　control　performance　of　aperiodic　disturbances　or　disturbances　with　different　periods　from　repetitive　control.　By　the　two-degrees-of-freedom　(2-DOF)　characteristics　of　an　EID-based　control　system,　the　reference　tracking　and　disturbance　rejection　performance　are　mainly　determined　by　the　outer　loop　and　inner　loop,　respectively.　The　separation　theorem　is　used　to　simplify　the　system　design.　To　be　specific,　the　linear　matrix　inequality　(LMI)　technique　and　optimal　control　are　used　to　find　the　gains　of　the　state-feedback　controller　and　state　observer,　respectively.　Then,　a　necessary　and　sufficient　condition　is　derived　to　ensure　the　robust　stability　of　the　closed-loop　repetitive　control　system.　Further,　the　design　algorithm　of　the　system　is　also　given.　Lastly,　a　simulation　validates　the　developed　method.