The tracking control problem of a class of nonlinear systems is researched, when there exist singular points during operating process. After the controlled object being transformed into the norm form, the pseudo control signal is generated from a linear compensator together with the derivate of the desired trajectory. Then, the gradient dynamic method is introduced to conquer the singular points that occur in the operating process. Finally, the stability analysis verifies the stability of the closed system, as well as the convergence of the tracking error. Simulation results show the good performance of the proposed controller.