Abstract: For the output tracking issue of affine nonlinear systems, a novel controller design method is proposed. High order ordinary differential equations for tracking errors are constructed. Therefore the characteristic equations corresponding to the ordinary differential equations have negative real part roots to ensure that tracking errors can converge to zero asymptotically and the system has desired dynamic performance. The tracking control of affine nonlinear systems can be solved by the differential equations. The robustness of the algorithm can be proved according to Lyapunov stability theory when the outside disturbance satisfies some certain conditions. Simulation results verify the correctness and robustness of the proposed algorithm.