Abstract: In this paper, the inverse operator method of control of a class of nonlinear systems with a nonlinearity is presented, and the weighted self-uning control algorithm of this type of nonlinear systems is established. This algorithm is also suitable for the unstable and (or) inverse unstable systems and asymptotically optimal. It can make the closed-loop systems to be globally convergent and stable. The simulation results show that the algorithm can overcome the effect of nonlinearity of the systems "and may improve control performance.