I think theres an easier way but here how i'd do it.
you need to animate ur global control forward frame by frame for the length of your cycle (i.e 24 frames)) to avoid sliding issues, then in ur graph editor of the global control
go curves > post infinity > cycle with offset
curves > pre infinity > cycle with offset
those who succeed are only the failures that never gave up.
https://www.vimeo.com/7080130