An Acceleration Feedback Control (AFC) for multi-closed loops control system is proposed to improve tracking performance in tracking control system, which can provide an inner loop with fast and wide bandwidth for the control system that is better than only velocity control loop. A feed forward controller based on acceleration feedback is important to track high velocity and acceleration targets because the control mode with AFC can suppress variations of system parameters. It is easy to implement the control algorithm in the high performance float digital signal processor. Experiments show that the proposed method is effective. The bandwidth of disturbance suppression is improved from 15 Hz to 30 Hz, and the suppression ability reaches -30dB under the frequency of 10 Hz.