A nonlinear time delay saturation controller (NTDSC) used to minimize the vibrations of a vertical cantilever beam simulated as an airplane tail and exposed to harmonic force. A modified form of saturation-based controllers is given to lessen system vibrations. The perturbation technique is used to generate an approximate solution to evaluate the nonlinear behavior of this model. Time histories of the primary system and the controller are shown to demonstrate the reaction with and without control. The time-history response, as well as the impacts of the parameters on the system and controller, were simulated numerically using the MATLAB program. The Routh-Hurwitz criterion was used to show the stability investigation at simultaneous resonance. The impact of controller parameters and time delays on system response curves are examined. Time-delays are explored in the control loop for their implications on controller performance and system stability. The impacts of time delay are also investigated in order to establish the operation's safe zone. Validation curves are provided to show how closely the perturbation and numerical solutions are related. A comparison is made with recently released papers.