This letter proposes an iterative learning control with advanced output data (ADILC) scheme using an estimation of the impulse response for non-minimum phase (NMP) systems, whose model is unknown, except for the relative degree and the number of NMP zeros. Although the ADILC has a simple learning structure that can be applied to both minimum phase and NMP systems, at least a partial model should be known in order to apply ADILC. Considering this fact, in this letter, we propose a new ADILC method based on the estimation of the impulse response for NMP systems whose model is unknown. An estimation method for the learning matrix and an ADILC scheme are presented for NMP systems.