This paper demonstrates that the design of a robust feedback-based Iterative Learning Control (ILC) is straightforward for uncertain linear time invariant (LTI) systems satisfying the robust performance condition. It is shown that once a controller is designed to satisfy the well known robust performance condition, a convergent updating rule involving the performance weighting function can be directly obtained. It is also shown that for a particular choice of this weighting function, one can achieve a perfect tracking.