In this paper, adaptive compensation with a robust integral of the sign of the extended error (RISEE) feedback is developed for high precise tracking control of systems in the presence of simultaneous structured and unstructured uncertainties. To handle various uncertainties existing in the system in one controller, we propose an adaptive RISEE controller (ARISEE), in which an adaptive law based on the improved discontinuous projection method is synthesized to handle parametric uncertainties and the RISEE robust term to attenuate unmodelled disturbances. Moreover, the present controller does not need a priori knowledge on the bounds of the lumped disturbances and the gain of the designed robust control law can itself be tuned. The major feature of the proposed controller is that it can theoretically guarantee global asymptotic tracking performance with a continuous control input, in the presence of parametric uncertainties and unmodelled disturbances via Lyapunov analysis. Comparative numerical results verify the effectiveness of the proposed non-linear controller.