To effectively restrain the continuous commutation failure of HVDC system under different fault degrees, a dynamic nonlinear voltage dependent current order limiter (VDCOL) controller design scheme with additional virtual capacitors is proposed. First, the conventional VDCOL cannot effectively restrain continuous commutation failure under severe fault because of the insensitive DC current command regulation in an HVDC system, so a dynamic nonlinear VDCOL controller is designed. The linear relationship between voltage and current of the conventional VDCOL is designed to be nonlinear, overcoming the shortcoming that the command current cannot be adjusted flexibly. Considering the variable voltage before and after commutation failure, the voltage is modified by introducing a fault coefficient. Secondly, to improve the sensitivity of the dynamic nonlinear VDCOL controller to mild and moderate faults, an additional virtual capacitor module is designed at the input voltage of the dynamic nonlinear VDCOL to restrain the drop of input voltage when faults occur. Finally, through PSCAD/EMTDC simulation and analysis, the results show that the proposed scheme can effectively restrain continuous commutation failure and shorten fault recovery time under different fault degrees. This work is supported by the National Natural Science Foundation of China (No. 61973109).