Abstract: An adaptive iterative learning control of nonlinear systems with mixed-type parameters is developed by combining the Backstepping approach with the parameter regrouping technique,which can handle the iteration-varying trajectory tracking problem.A differential-difference type adaptive law and an adaptive iterative learning controller are constructed to ensure the asymptotic convergence of tracking errors in the sense of square error norm on the finite interval,by introducing a Lyapunov-like function,a sufficient condition of the convergence of the method is given.A simulation example illustrates the feasibility of the proposed method.