Abstract The problem of the synthesis of high-quality systems for controlling nonlinear stationary objects is treated. This problem has recently been the subject of many publications. However, many of the approaches developed cannot be used for designing manipulation systems which are characterized by large-scale variations of numerous parameters of the object controlled. The method developed fully takes into account the intercoupling between the degrees of freedom of the manipulation system, ensuring a high quality control of servoactuators in tracking regimes. The method is applicable for the synthesis of high-order control systems, when the elasticity of mechanical reducers and their nonlinearities are taken into account. The conditions of quasi-stationarity of parameters of these systems should also be satisfied. Technological realization of the synthesized controllers does not present difficulties.