Abstract: The present model reference adaptive control methods for nonlinear affine systems require that the nonlinear system should be linear to the unknown parameter vector ,and that there should not be unknown parameters in the output equation. On the other hand, the higher the relative degree or the order of the nonlinear system, the more complicated the control and parameter update law. To overcome those drawbacks a novel model reference adaptive nonlinear tracking control scheme is proposed in the paper. It is proved that the controller can reach expected performances in the nonlinear parameterization case, provided that the regressor vector satisfies certain Lipschitz condition.