A method of chaos control using time-delay nonlinear feedback based on stability criterion is proposed. By a suitable separation of the chaotic system, a special nonlinear function is obtained. We use the difference of nonlinear functions of the chaotic output signal and its delayed output signal to construct a continuous feedback input perturbation. The method can stabilize chaotic systems to a desired periodic orbit without using any external force. The method retains the advantages of performing the self-control via delayed feedback control method. Besides, the validity of control is ensured due to the stability criterion. The control can be started at any moment, and it is convenient and flexible. The coupled Duffing oscillator is given as numerical examples. The results of numerical simulation show the validity of the method.