An adaptive dynamic surface control(DSC) procedure is proposed for a class of nonlinear systems in purefeedback
form with unmodeled dynamics. Neural networks is used to approximate the unknown continuous functions. A
dynamic signal is introduced to dominate the dynamic disturbances. Compared with the existing literature, the proposed
design scheme simplifies the processing procedure of the unmodeled dynamics, and cancels the assumption of the neural
network approximation error to be bounded. By theoretical analysis, the closed-loop control system is shown to be semiglobally
uniformly ultimately bounded. Simulation results show the effectiveness of the proposed approach.