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A new iterative learning control algorithm based on homotopy extension for nonlinear systems is presented. Homotopy extension methods are introduced in iterative learning control problem. The iterative process based on homotopy extension methods and Newton methods is derived. A new algorithm is proposed to wide the range of convergence. Sufficient conditions for the convergence of new algorithm are given and proved. The new algorithm based on homotopy extension has global convergence instead of local convergence of classical Newton-type methods.