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Remote Control 56, No. 11, Pt. 2, 1637-1644 (1995); translation from Avtom. Telemekh. 1995, No. 11, 160-169 (1995; Zbl 0923.93059).]   This paper proposes a learning control algorithm for control systems in the form  \\[ y^{(n)}+ f(y,\\dots, y^{(n- 1)})= B(y) u, \\]  where \\(u,y\\in \\mathbb{R}^n\\). It is assumed that the matrix \\(B(y)\\) is invertible and known, while the function \\(f\\) is Lipschitzian and unknown. The control task amounts to tracking a prescribed trajectory \\(y_d(t)\\). The main result of the paper consists in the following learning control algorithm  \\[ u^{k+ 1}= u^k- B^{-1} \\Biggl(\\mu^{-n}a_{n- 1}\\Biggl( \\mu{d\\over dt}\\Biggr) z^{k+1}+ {d^n\\over dt^n} z^k\\Biggr), \\]  in consecutive steps \\(k= 0,1,\\dots\\) of length \\(T\\), where \\(z= y- y_d\\) denotes the tracking error, \\(a_{n-1}(s)\\) is an (\\(n-1\\)) order polynomial such that \\(s^n+ a_{n-1}(s)\\) is Hurwitz, and \\(\\mu\\) is a small parameter. Conditions on \\(\\mu\\) have been found guaranteeing a convergence of the lerning algorithm in the sense that the error  \\[ \\nu_k= \\Biggl(\\sum^{n- 1}_{i= 0} \\Biggl(\\sup_{t\\in T}\\Biggl(\\mu^i {d^i\\over dt^i} z^k(t)\\Biggr)\\Biggr)^2\\Biggr)^{1/2} \\]  tends to zero when \\(k\\to \\infty\\). 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