This paper investigates the H∞ output tracking control problem for a class of cascade switched nonlinear systems. The solvability conditions for the H∞ output tracking control problem are developed. Under a designed switching law, the tracking control problem of a switched nonlinear system is solvable if the subsystems satisfy certain conditions. A controller is also designed to solve the H∞ output tracking control problem based on the multiple Lyapunov function method. An example illustrates the effectiveness of the proposed approach.