An　iterative　learning　control　(ILC)　algorithm　based　on　orthogonal　polynomials　was　developed　to　address　the　trajectory　tracking　of　T-S　fuzzy　systems.　First,　the　method　derived　equivalence　system　of　T-S　fuzzy　system.　Then,　the　differential　equations　of　equivalence　system　were　reduced　to　a　set　of　linear　algebraic　equations　by　employing　orthogonal　polynomials　expansion　and　the　operational　matrix　of　integration　of　orthogonal　polynomials.　The　orthogonal　polynomials＇　coefficients　of　control　function　were　adjusted　by　an　iterative　learning　law.　The　proposed　algorithm　could　only　use　the　error　signals　to　update　the　control　input　for　nonlinear　system　with　arbitrary　relative　degree.　Simulation　results　demonstrate　the　effectiveness　of　the　new　method.