In this paper, the position tracking control for tank gun control systems with periodic reference signal is studied. On the basis of corresponding system modeling, a novel repetitive controller is developed by using Lyapunov synthesis. During the controller design, signal replacement mechanism is used to deal with the nonparametric uncertainties under Lipschitz-like continuous condition, and repetitive learning laws are developed to estimate the unknown periodic parameters. Meanwhile, robust learning approach is used to compensate the sum of random disturbances, whose upper bound is estimated according repetitive learning mechanism. Hyperbolic tangent function, rather than sign function, is applied to design a robust feedback term to release the occurrence of chattering phenomenon. Numerical simulations demonstrate the effectiveness of the proposed repetitive control scheme.