Aimed at the problems of timevarying, nonlinearity, strong coupling and hydraulic parameter perturbation in electrohydraulic proportional control system, an iterative learning control(ILC) algorithm with compensation was proposed. Based on the analysis of the mechanism of electrohydraulic proportional position servo system, the mathematical model of the system was established. An iterative learning algorithm which did not strictly depend on the exact model of the system was designed, and the highly uncertain nonlinear strongly coupled dynamic system was dealt with in a very simple way. In order to solve the jitter and spike burr in the process of error convergence, input and error compensation were added to the algorithm. The system was compensated by using the variation of input and error previously controlled.The simulation and experimental results show that ILC algorithm can be used to effectively track the desired trajectory accurately. Compared with traditional PID control, ILC improves the control accuracy and fast tracking ability of the system.