Abstract: For non linear uncertain system, to guarantee response properties of the controlled system, a fuzzy model of the non linear system is constructed using fuzzy network theory. Iterative learning control algorithm is pre sented based on the fuzzy model. It is shown by example analysis and simulation verification that the scheme can follow parameters change of the system and can self turn control gain. It has robustness to disturbance of the system. And it is an efficient control scheme in the practice.