A successive approximation approach to obtain the solution of the optimal control of nonlinear time-delay systems with equal delay in state and control vectors is given in this brief. By employing the approximation approach, the original problem is transformed into a sequence of inhomogeneous linear two-point boundary value problem. Applying the finite-step iteration of nonlinear compensation sequence, we can obtain feedforward and feedback suboptimal control laws. A simulation example is presented to substantiate the obtained results.

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