In this paper, an adaptive fuzzy output-feedback Pesudo inverse dynamic surface control scheme is proposed for a class of hysteretic nonlinear systems. By using fuzzy logic systems, the system model is extended to a general one. The high-gain observer is designed to estimate the states of the system and deal with the uncertainties and environmental disturbances, therefore there is no need to known the system parameters before designing the controller. The pseudo inverse compensator of the asymmetric hysteresis model is constructed instead of precise inverse model. It is proved that all the signals in the closed-loop systems are semi-globally ultimately uniformly bounded (SUUB). Simulation results show the validity of the proposed scheme.