In cruise control systems, the performance of the controller is important. Hence, in order to have accurate results, the nonlinear behavior of a vehicle model should also be considered. In this article, a vehicle with a nonlinear model is controlled by using a nonlinear method. The nonlinear term of the model is the generated torque of engine, which is a polynomial equation. In addition, feedback linearization is used as a nonlinear method in order to design two parallel controllers to control the movement of the vehicle. These two parallel controllers are used to control braking and gas pedals which are in charge of the angular velocity of the wheels. To check the performances of controllers, first, each controller is used separately. Finally, two parallel controllers are used to track the reference signal. Comparison between results shows that the designed controller is able to reduce the convergence time of about 10 seconds. This improvement is near 35% in comparison with near studies. In addition, it can reduce the error between the velocity of the vehicle and the values of the reference signal that results in more safety for passengers.

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