We study the cosmological dynamics for $R_p$ exp($\lambda R$) gravity theory in the metric formalism, using dynamical systems approach. Considering higher-dimensional FRW geometries in case of an imperfect fluid which has two different scale factors in the normal and extra dimensions, we find the exact solutions, and study its behaviour and stability for both vacuum and matter cases. It is found that stable solutions corresponding to accelerated expansion at late times exist, which can describe the inflationary era of the Universe. We also study the evolution of scale factors both in the normal and extra dimensions for different values of anisotropy parameter and the number of extra dimensions for such a scenario.