For precise tracking control of a class of nonlinear systems over a finite time interval, an iterative learning control method using the relative degree of a system is proposed. The class of nonlinear systems, where the iterative learning control is applied, can be extended by using the proposed method. A sufficient condition is derived for guaranteeing a uniform convergence of the output to the desired output. The results obtained for a class of nonlinear systems are shown to be a generalization of the existing results for linear time-invariant systems.