Compensation of input delay that depends on delayed inputCompensation of input delay that depends on delayed input Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2018-03-192017enFor nonlinear systems, we develop a PDE-based predictor-feedback control design, which compensates actuator dynamics, governed by a transport PDE with outlet boundary-value-dependent propagation velocity. Global asymptotic stability under the predictor-feedback control law is established assuming spatially uniform strictly positive transport velocity. The stability proof is based on a Lyapunov-like argument and employs an infinite-dimensional backstepping transformation that is introduced. An equivalent representation of the transport PDE/nonlinear ODE cascade via a nonlinear system with an input delay that is defined implicitly through an integral of the past input is also provided and the equivalent predictor-feedback control design for the delay system is presented. The validity of the proposed controller is illustrated applying a predictor-feedback “bang–bang” boundary control law to a PDE model of a production system with a queue. Consistent simulation results are provided that support the theoretical developments. http://creativecommons.org/licenses/by/4.0/Automatica85362-373 Diagne Mamadou Bekiaris-Liberis Nikolaos Μπεκιαρης-Λυμπερης Νικολαος Krstić, Miroslav Elsevier Backstepping Delay systems Nonlinear control Predictor-feedback