A multi-input-multi-output (MIMO) repetitive control problem of tracking and disturbance rejection is considered when both reference and disturbance signals are finite linear combinations of periodic but not necessarily sinusoidal signals. Lyapunov stability analyses under a positive real condition (and a natural relaxation) and exponential stability under a strict positive real condition are provided together with bounds on the induced L-2 and RMS gains of the closed loop system. It is shown that similar Lyapunov stability results apply when the plant is a positive real state-delay system. Extension of the analyses to a class of non-linear systems is discussed and indicates a good degree of robustness in the design.