Abstract: An adaptive tracking control scheme is proposed for a class of uncertain nonlinear MIMO(multiple-input multiple-output) systems based on dynamic surface control method.Performance function and output error transformation are employed to guarantee that the output signals have the prespecified control indexes of output tracking speed,tracking error,overshoot,etc.In order to avoid control singularity problem,neural network is used to approximate desired intermediate control signals directly.Instead of estimating all the weights of the neural network,only one parameter's adaptive law needs to be designed.It is proved theoretically that all signals of the closed-loop system are bounded.Simulation results verify the effectiveness of the proposed scheme.