In additional to the suggestion of asciidoc below, there's also
docbook (SGML based) - a good starting point may be
Pod::DocBook. A MetaCPAN
search for SGML is also a good starting point. Here is a pretty
comprehensive list of mark up languages.
SGML is the basis for some of them (e.g., docbook,
linuxdoc), but certainly not all. I'd be remiss to not mention that quite a few things have been published using the old unix
*roff family of text formatters.