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In this study, the authors apply iterative learning control (ILC) theory to address the urban traffic signal control problem in a macroscopic level traffic environment. The original urban traffic signal control problem is first formulated into an output regulating and disturbance rejection problem, and the ILC approach is applied to deal with this class of control problem using the repeatability feature of traffic flow. Then, the ILC strategy is further integrated with the traffic‐responsive urban control framework to cope with the random disturbances of traffic conditions in iteration cycle. Theoretical analysis shows that the proposed ILC‐based traffic signal control methods can guarantee the asymptotic convergence of the link occupancies to the desired ones. The main advantage of the proposed approaches is that they require less prior modelling knowledge in the control system design. The effectiveness of the proposed methods is further verified by extensive simulations. [ABSTRACT FROM AUTHOR]