We consider the iterative learning control problem from an adaptive control viewpoint. It is shown that some standard Lyapunov adaptive designs can be modified in a straightforward manner to give a solution to either the feedback or feedforward ILC problem. Some of the common assumptions of non-linear iterative learning control are relaxed: e.g. we relax the common linear growth asssumption on the non-linearities and handle systems of arbitrary relative degree. It is shown that generally a linear rate of convergence of the MSE can be achieved, and a simple robustness analysis is given. For linear plants we show that a linear rate of MSE convergence can be achieved for non-minimum phase plants.