In this paper, a novel continuous complementary sliding control was proposed to improve the tracking performance given the available control bandwidth and the extend of parameter uncertainty. With this control law, the ultimate bound of tracking error was shown to be reduced at least by half, as compared with the conventional continuous sliding control. More strikingly, the proposed control can effectively improve the error transient response during the reaching phase. We presented a composite complementary sliding control scheme for a class of uncertain nonlinear systems including the nonlinear electrohydraulic position servo control system, which will be used as an illustrated example. Simulation results indicated exceptional good tracking performance to step and sine wave reference inputs can be obtained. In addition, the disturbance rejection property of the controller to single-frequency sinusoidal disturbances is also outstanding.