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By incorporating the sliding mode observer into the equivalent-input-disturbance theory, the equivalent-input-disturbance estimator structure is determined. The structure presented in this work can effectively estimate the unknown disturbance without making use of the inverse model of the system. Moreover, an asymptotic stability condition is devised to ensure that the repetitive control systems are stable, as well as the corresponding controller gains are designed with the aim to guarantee the performance of the system to suppress unknown disturbances. Numerical example simulations demonstrate the effectiveness and advantages of the devise scheme.<\/jats:p>","DOI":"10.1177\/09596518241227493","type":"journal-article","created":{"date-parts":[[2024,2,5]],"date-time":"2024-02-05T05:52:20Z","timestamp":1707112340000},"page":"1028-1036","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Disturbance rejection design for repetitive control system with state delay based on equivalent input disturbance compensation"],"prefix":"10.1177","volume":"238","author":[{"given":"Wenchengyu","family":"Ji","sequence":"first","affiliation":[{"name":"College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8284-2396","authenticated-orcid":false,"given":"Shenquan","family":"Wang","sequence":"additional","affiliation":[{"name":"College of 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