A non-woven cross-lapper machine uses the pulley block structure to pull the pulley bracket, which folds out the required web thickness and width of the non-woven products by the reciprocating motion of the pulleys. The system needs to move back and forth at a stable constant speed, and be able to stop at the precise position of the re-entry point when reciprocating. This paper deals with the modeling and control of the current new horizontal type cross-lapper machine. The Lagrange’s equation is applied to derive the non- linear dynamic equation of the system. In the controller design, this study first obtains the transfer function of the high-order linearization system. Then, the approximation criterion is used to obtain the corresponding low-order system transfer function, so that the analysis and design effort is reduced. Both the realizable proportional and integral control, and pole- placement design through state feedback, are applied for the control system design. The performances of the designed controllers are verified through computer simulation.