For repetitive movements of the objects，iterative learning control is an positive and effective control method. This dissertation mainly studies a class of nonlinear systems with initial deviation, state and control time delay and repetitive output disturbance based on PD-type iterative learning control algorithm.Considering close-loop algorithm’ stability and robustness is pretty better than open-loop algorithm’s, combining the two algorithms has a wider significance,so a kind of open-closed-loop PD-type iterative learning control algorithm was proposed.The open-closed-loop PD-type learning algorithm and open-loop algorithm are applied respectively to simulation .The results of simulation prove that ILC algorithm can obtain a better control effect.