A system of non-linear feedback control for spinal cord stimulation is provided. The system comprises a lead adapted to be implanted within an epidural space of a dorsal column of a patients spine, and a pulse generator (PG) electrically coupled to the lead. The PG is configured to deliver spinal cord stimulation (SCS) therapy. The system also comprises a sensing circuitry configured to sense an evoked compound action potential (ECAP) response that propagates along the neural pathway. The system also comprises a processor programmed to operation, in response to instructions stored on a non-transient computer-readable medium, to obtain a baseline ECAP response when the lead and spinal cord tissue properties are in baseline states; analyze ECAP responses relative to the baseline ECAP response to obtain an ECAP feedback difference indicative of a change in at least one of the baseline state of the lead and the baseline state of the spinal cord tissue properties. The processor is also programmed to adjust an SCS therapy based on the ECAP feedback.