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This paper addressed mathematical modeling and control of liquid rocket propulsion system (LRPS). Dynamic simulation of LRPS shows that control difficulty is rooted from the slow dynamics and high nonlinearity of the rocket motion. As a consequence a conventional feedback control technique is unsuitable for controlling the rocket motion. In this paper, it is proposed to use both cascade and iterative learning control techniques including feedback controllers.Using the cascade control algorithm it is enabled to overcome the control difficulty to a certain degree caused by the variation of time constants. Iterative learning control strategies improve the tracking performance and guarantee the safety through repetition. The LRPS control system which tracks the changes in the set-point and also diminishes the disturbance under modeling error has been synthesized. Overall performance of proposed control system has been demonstrated by means of thorough numerical simulation of LRPS control system.