In this paper, we design and analyze a two degree-of-freedom (TDOF) repetitive control system for a motor gear transmission system with actuator saturation. Modifications are made for our previous design to incorporate the performance-limiting element, i.e. actuator saturation, to acquire lower order controller, and to achieve faster computation. Structured singular value is used to evaluate and compare the nominal robust performance and robust stability of our designs. Simulation results using actual measured disturbances are presented to show the feasibility and effectiveness of the new design for periodic and non-periodic disturbance reduction.