A nonlinear control system and a loudspeaker protection system. In particular, a nonlinear control system including a controller, an audio system, and a model is disclosed. The controller is configured to accept one or more input signals, and one or more estimated states produced by the model to produce one or more control signals. The audio system includes one or more transducers configured to accept the control signals to produce a rendered audio stream therefrom. An active loudspeaker with an integrated amplifier is disclosed. A loudspeaker protection system and a quality control system are disclosed. More particularly, a system for clamping the input to a loudspeaker dependent upon a bank of representative models is disclosed.