The emerging memristor-based neuromorphic engineering promises an efficient computing paradigm. However, the lack of both internal dynamics in the previous feedforward memristive networks and efficient learning algorithms in recurrent networks, fundamentally limits the learning ability of existing systems. In this work, we propose a framework to support complex learning functions by introducing dedicated learning algorithms to a bio-plausible recurrent memristive network with internal dynamics. We fabricate iron oxide memristor-based synapses, with well controllable plasticity and a wide dynamic range of excitatory/inhibitory connection weights, to build the network. To adaptively modify the synaptic weights, the comprehensive recursive least-squares (RLS) learning algorithm is introduced. Based on the proposed framework, the learning of various timing patterns and a complex spatiotemporal pattern of human motor is demonstrated. This work paves a new way to explore the brain-inspired complex learning in neuromorphic systems.