Abstract: A robust iterative learning control (ILC) algorithm based on wavelet approximation and variable structure control is presented for a class of unknown nonlinear uncertain systems with exogenous disturbance. The algorithm parameterizes the plant nonlinearities by using wavelet approximation whose coefficients are iteratively adjusted by learning. The sliding variable structure control strategy with dead zone is applied to ensure the robust convergence. The convergence analysis shows that errors between the actual and the optimal wavelet coefficients are monotonically decreasing with iterations. So this scheme can partially overcome the limitation of conventional ILC scheme that the result for a given trajectory has no use for other trajectories.