Abstract: Based on the fact that the tracking error asymptotically approaches zero, a new nonlinear delayed feedback control approach of discrete chaotic systems is presented. Such control approach that uses the step-N delayed output of a chaotic system to estimate the unstable period-N orbit and to be the tracking target can stabilize a controlled chaotic system onto a deterministic point in the phase space as well as a period-N orbit. Theory and experiments show that the control approach is robust.