A feed-forward and feedback control scheme based on artificial neural network (ANN) and iterative learning control is proposed. Iterative learning control and ANN are combined as a feed-forward controller, which makes the output track the desired trajectory. Feedback control is introduced to reduce the effect of disturbances. To combine the feed-forward controller and the feedback controller, the ANN is employed to simulate the plant. Since the ANN can update the weights online, it is always consistent with the plant. The convergence and robustness of the system are analyzed, and the simulation shows the feasibility of the proposed control scheme.