Abstract: A nonlinear feedback control technique is used to solve the problem of large overshoot in tracking control. First, a continuous integral sliding surface (ISM) is designed for an uncertain continuous system with unmatched external disturbances, which makes the system sliding mode asymptotically stable. Second, an integral sliding-mode controller (ISMC) is designed based on the sliding surface, which helps the state trajectory of the system locate in the sliding surface in initial time and the ISMC is robust to the uncertainties. By introducing a composite nonlinear feedback technology, a composite nonlinear ISMC is designed to reduce the overshoot as long as the system state trajectory reaches the sliding surface. Simulation results are presented to verify the effectiveness of the control strategy.