Repetitive control design based on forwarding for nonlinear minimum-phase systems

We propose a new design for repetitive control scheme nonlinear minimum-phase systems with arbitrary relative degree and globally Lipschitz nonlinearities. represent the delay of as transport equation we forwarding-based (partial) state-feedback that uses not only boundary information delay, but entire state representing delay. Through rigorous mathematical analysis, show that, from theoretical point view, asymptotic convergence desired regulated output can be achieved proposed design.