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 \pm 0.035 \mathrm { M } _ { Jup } on a circular orbit with a period of 19.382 \pm 0.006 days . There is an outer massive companion in the system with a period of 931 \pm 17 days , e = 0.12 \pm 0.02 , and a minimum mass of 5.13 \pm 0.25 \mathrm { M } _ { Jup } . The star HD 159243 also has two detected companions with respective masses , periods , and eccentricities of M _ { p } = 1.13 \pm 0.05 and 1.9 \pm 0.13 \mathrm { M } _ { Jup } , P = 12.620 \pm 0.004 and 248.4 \pm 4.9 days , and e = 0.02 \pm 0.02 and 0.075 \pm 0.05 . Finally , the star HIP 91258 has a planetary companion with a minimum mass of 1.068 \pm 0.038 \mathrm { M } _ { Jup } , an orbital period of 5.0505 \pm 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 91258Â 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 .