In this paper, P-type learning scheme and New-ton-type learning scheme are proposed for quite general nonlinear dynamic systems with non-affine-in-input factors, Using the contraction mapping method, it is shown that both schemes can achieve asymptotic convergence along learning repetition horizon. In order to quantify and evaluate the leaming performance, new indices-Q-factor and Q-order-are introduced in particular to evaluate the learning convergence speed. It is shown that the P-type iterative leaming scheme has a linear convergence order with limited learning convergence speed under system uncertainties. On the other hand, if more of system information such as the input Jacobian is available, New-ton-type iterative learning scheme, which is originated from numerical analysis, can greatly speed up the learning convergence speed. The effectiveness of the two learning control methods are demonstrated through a switched reluctance motor system.