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In this paper, the observer-based iterative learning control with/without evolutionary programming algorithm is proposed for MIMO nonlinear systems. While the learning gain involves some un-measurable states, this paper proposes the observer-based Iterative Learning Control (ILC) for nonlinear systems and guarantees the tracking error convergences to zero via continual learning. Moreover, a sufficient condition has been presented to alleviate the traditional constraint, i.e., identical initial state, in the convergence analysis. Then, an idea of feasible reference based on polynomial approximation is proposed to overcome the limitation of ILC - initial state error. To speed up the convergence of the iterative learning control, evolutionary programming is applied to search for the optimal and feasible learning gain to reduce the training time.
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