This article presents high differential feedback control idea that does not rely on the model of the controlled system. Its control objective is that the output of the system and its differential and high differentials approximate the given reference input and its differential and high order differentials. It will improve largely the requirement of the control quality. Based on the idea, the high order differentiator (HOD) that is well able to extract differential and high order differentials of measured signals is designed. The proposed HOD has a few parameters and is easily adjusted. Its stability, convergence and filtering characteristic are proved. Furthermore, is designed, high order differential feedback adaptive controllers (HODFC) for unknown model nonlinear SISO and MIMO systems with unknown disturbance are presents respectively, the analysis of stability and robustness of the closed system is given, and linearized decoupling control is achieved.