According to the repeatability characteristics of servo system, a fuzzy iterative learning controller is proposed which combining advantages of fuzzy control and iterative learning control. Fuzzy control has better robustness, and does not require accurate model of the system, only need the previous experience, the design method is simple. Fuzzy controller is used in the position-loop, but the static error is difficult to eliminate, iterative learning controller use the control error to adjust the previous control input to reduce the error of next time. The combination of these two intelligent control algorithms can improve the control performance of servo system effectively. Simulation results show that the fuzzy control combined with iterative learning control can achieve better control performance in servo system.