Iterative　learning　control　(ILC)　is　an　effective　control　tool　to　reduce　systematic　errors　of　the　system　that　perform　repetitive　tasks.　In　this　paper,　based　on　the　voice　coil　motor　XY　motion　platform,　we　design　a　filter　type　ILC　feedforward　and　feedback　control　structure　to　insure　the　robust　stability　and　the　tracking　performance　of　the　motion　system.　In　the　design　of　the　control　system,　the　concept　like　double　closed　loop　control　and　zero　phase　error　tracking　control　algorithm　are　being　used.　Both　simulations　and　experiments　show　that　with　this　control　structure,　a　better　dynamic　and　static　performance　is　obtained,　i.e.,　the　maximum　acceleration　of　the　system　up　to　5g,　maximum　speed　of　0.8m/s,　after　4　times　iterative　learning,　trajectory　tracking　error　can　be　reduced　to　0.003mm,　High　speed　and　high　precision　point　to　point　control　is　realized.　So　ILC　can　be　widely　used　in　the　field　of　motion　system,　especially　for　IC　package,　that　repeatedly　perform　the　same　movement.