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On the basis of sufficient analysis on the characteristic of iterative learning control and PID controller parameter tuning work, an idea of applying iterative learning control to PID controller parameter tuning was aroused. We choose the linear model in the neighborhood of character points as the research plant, transforming the problem of PID controller parameter tuning into an open-close loop iterative learning control problem. The stability of PID controller parameter iterative learning control system and the astringency of controller parameters was verified for the first time through the construct of a compress mapping arithmetic operator. The stop condition design scheme of integral type is advanced at the same time, finally, the iterative learning of PID controller parameters was solved successfully. The ultimate simulation study validates the correctness and effectiveness of the theory.