The document proposes a Newton-method based iterative learning control (ILC) method for nonlinear systems. It decomposes the nonlinear ILC problem into a sequence of linear time-varying ILC problems that can be solved using existing linear ILC algorithms. This approach converges semi-locally and avoids calculating inverse systems. The algorithm is demonstrated in a simulation of a single link manipulator model that successfully tracks the reference signal across trials. Future work aims to improve global convergence, stability, and monotonic convergence properties.