This paper presents a nonlinear trajectory controller with improved performances for a general model of the waverider based on feedback linearization theory and composite nonlinear feedback technique. First, a nonlinear controller is presented using the dynamic inversion and CNF technique for the MIMO Model, and the robust stability of the proposed controller is proved. Then, the nonlinear model is established on the basis of hypersonic aerodynamic principle, and the dynamic characteristics are analyzed accordingly, and the periodic trajectory is designed and (...) optimized in combination with a fuel optimization problem. Furthermore, the nonlinear controller is applied to the trajectory tracking of the waverider model, and the general design steps are provided the flight controller using this nonlinear control method. Finally, an illustrative example is given to verify the effectiveness of the nonlinear controller of the waverider, and the flight performances are improved accordingly, including system stability, robustness, and tracking ability. (shrink)