This paper proposes a self-organizing control system for uncertain nonlinear systems. The proposed neural network is composed of a conventional brain emotional learning network (BEL) and a cerebellar model articulation controller network (CMAC). The input value of the network is feed to a BEL channel and a CMAC channel. The output of the network is generated by the comprehensive action of the two channels. The structure of the network is dynamic, using a self-organizing algorithm allows increasing or decreasing weight layers. The parameters of the proposed network are on-line tuned by the brain emotional learning rules; the updating rules of CMAC and the robust controller are derived from the Lyapunov function; in addition, stability analysis theory is used to guaranty the proposed controller's convergence. A simulated mobile robot is applied to prove the effectiveness of the proposed control system. By comparing with the performance of other neural-network-based control systems, the proposed network produces better performance.