A proportional iterative learning control (P-ILC) for linear models of an existing hybrid stroke rehabilitation scheme is implemented for elbow extension/flexion during a rehabilitative task. Owing to transient error growth problem of P-ILC, a learning derivative constraint controller was included to ensure that the controlled system does not exceed a predefined velocity limit at every trial. To achieve this, linear transfer function models of the robot end-effector interaction with a stroke subject (plant) and muscle response to stimulation controllers were developed. A straight-line point-point trajectory of 0 - 0.3 m range served as the reference task space trajectory for the plant, feedforward, and feedback stimulation controllers. At each trial, a SAT-based bounded error derivative ILC algorithm served as the learning constraint controller. Three control configurations were developed and simulated. The system performance was evaluated using the root means square error (RMSE) and normalized RMSE. At different ILC gains over 16 iterations, a displacement error of 0.0060 m was obtained when control configurations were combined.