In this paper, a novel analysis method for iterative learning control (ILC) algorithms is presented. Even though expressed in the lifted system representation and hence in the time-domain, the convergence rate as a function of the frequency content of the error signal can be determined. Subsequently, based on the analysis method, a novel ILC algorithm (F-ILC) is proposed. The convergence rate at specific frequencies can be set directly in the design process, which allows simple tuning and a priori known convergence rates. Using the F-ILC design, it is shown how to predict the required number of iterations until convergence is achieved, depending on the reference trajectory and information on the system repeatability. Numerical examples are given and experimental results obtained on an internal combustion engine test bench are shown for validation. (C) 2016 Published by Elsevier Ltd.