We present high-precision radial-velocity measurements of three solar-type stars: HD 13908, HD 159243, and HIP 91258. The observations were made with the SOPHIE spectrograph at the 1.93-m telescope of Observatoire de Haute-Provence (France). They show that these three bright stars host exoplanetary systems composed of at least two companions. HD 13908 b is a planet with a minimum mass of 0.865+-0.035 Mjup, on a circular orbit with a period of 19.382+-0.006 days. There is an outer massive companion in the system with a period of 931+-17 days, e = 0.12+-0.02, and a minimum mass of 5.13+-0.25 Mjup. The star HD 159243, also has two detected companions with respective masses, periods, and eccentricities of Mp = 1.13+-0.05 and 1.9+-0.13 Mjup, $P$ = 12.620+-0.004 and 248.4+-4.9 days, and e = 0.02+-0.02 and 0.075+-0.05. Finally, the star HIP 91258 has a planetary companion with a minimum mass of 1.068+-0.038 Mjup, an orbital period of 5.0505+-0.0015 days, and a quadratic trend indicating an outer planetary or stellar companion that is as yet uncharacterized. The planet-hosting stars HD 13908, HD 159243, and HIP 91258 are main-sequence stars of spectral types F8V, G0V, and G5V, respectively, with moderate activity levels. HIP 91258 is slightly over-metallic, while the two other stars have solar-like metallicity. The three systems are discussed in the frame of formation and dynamical evolution models of systems composed of several giant planets.
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