Fuzzy　logic　control　approach　is　introduced　to　design　the　iterative　learning　controller,　which　deals　with　point-to-point　problem　of　nonlinear　system.　First,　the　nonlinear　system　is　represented　by　a　Takagi-Sugeno　(TS)　type　fuzzy　model.　Second,　based　on　the　fuzzy　model,　a　fuzzy　iterative　learning　controller　is　developed　to　achieve　positioning　error　convergence　via　the　so-called　parallel　distributed　compensation　(PDC)　scheme.　The　approach　can　sufficiently　utilize　clear　concepts　and　simple　methods　of　linear　multivariable　control　theory　in　designing　nonlinear　iterative　learning　control　system.　A　simulation　example　is　given　to　illustrate　the　design　procedures　and　the　effectiveness　of　the　fuzzy　iterative　learning　scheme.