A repeating setpoint generator module 416 selectively varies a setpoint for an output parameter according to a predetermined pattern that repeats during successive time intervals. A closed-loop module 424, during a first one of the time intervals, generates N closed-loop values based on N differences between (i) N values of the setpoint at N times during the first one of the time intervals and (ii) N measurements of the output parameter at the N times during the first one of the time intervals, respectively. A power amplifier 408 applies an output to a load. A mixer module 444 generates N output values based on the N closed-loop values and the N adjustment values and controls power input to the power amplifier based on the N output values.
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