This paper is to propose a new design of Iterative learning Control (ILC) for the purpose of output tracking. The novelty lies in the synthesis of ILC with sliding-mode control such that the tracking performance and accuracy can be improved. The considered system is first transformed into two subsystems such that the new design can be applied to broad systems. Based on the transformed systems, an ILC is designed for the first-order derivative of the control signal, instead of the control signal

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... itself. The variable structure functions are therefore integrated such that the chattering can be eliminated accordingly. The convergence of the output-tracking error is also proved. The effectiveness of the new ILC for output tracking is verified in a simulation study.