A new and simple repetitive controller design procedure in controller parameter space, where the structure of the filters in the repetitive controller are fixed from the start and parameters within these filters are tuned, is presented here. This approach results in simple and physically meaningful controllers that are easily implementable. The design method is based on mapping frequency domain performance specifications into a chosen plane of controller parameters. Sensitivity function magnitude bounds and a relative stability measure are chosen as the frequency domain specifications to be mapped into controller parameter space here. The design method is illustrated numerically in the context of a servohydraulic material testing machine application available in the literature.