In this pater, the QLQG/LTR control method is applied for the position control of the nonlinear timing belt driving sys-tem. Parameters fo the plant are identified by genetic algorithm and nonlinear elements, such as Coulomb friction and dead-zone, and quasi-linearized by RIDE method. Comparing with the LQG/LTR contro. the QLQG/LTR has similar structures of the LQG/LTR, but this method can consider nonlinear effects in designing the controller. Thus, the QLQG/LTR control system is robust to hard nonlinearities such as Coulomb friction, dead-zone, etc. Forma given hard non-linear system through experiments, it is shown that the tracking performance of the QLQG/LTR control system can be very improved that the LQF/LTR control system.