A multi-loop tracking robust control method is presented for the high-order uncertain nonlinear system with control saturation constraint and varying parameters. Firstly, the high-order nonlinear system is decomposed into some first-order subsystems by hierarchical design virtual tracking controller. Then, the virtual tracking controller ensures that the output of inner loop exponential converge to the virtual input of outer loop, and an adaptive controller is designed for inner loop to compensate the uncertainty which is caused by parameters' perturbation and external disturbance, and to ensure that the output exponential converge to the virtual input. The output of system can accurately track the desired input, by using multi loop recursive tracking. Theoetical analysis proves the global convergence of the closed-loop system. Simulation verifies the feasibility and rationality of the multi loop tracking controller.