Abstract: An adaptive control scheme is proposed for a class of uncertain nonlinear MIMO systems by using dynamic surface control technnique. Performance function and output error transformation are employed to guarantee the prespecified control indexes on oupput tracking speed, tracking error, overshoot, etc. In order to avoid control singularity problem, neural networks are used to directly approximate desired intermediate control signals; There is no need to estimate all the weights of neural networks, only one parameter is needed to be updated online. It is proved that all signals of the closed-loop system are bounded. Simulation results show the effectiveness of the proposed scheme.