Methods for solving non-linear control systems are still being developed. For many industrial devices and systems, quick and accurate regulators are investigated and required. The most effective and promising for nonlinear systems control is a State-Dependent Riccati Equation method (SDRE). In SDRE, the problem consists of finding the suboptimal solution for a given objective function considering nonlinear constraints. For this purpose, SDRE methods need improvement.

In this paper, various numerical methods for solving the SDRE problem, i.e. algebraic Riccati equation, are discussed and tested. The time of computation and computational effort is presented and compared considering selected nonlinear control plants.