Generally, for the position control of industrial machines, a semi-closed loop control which uses only the information of motor's angle is adopted, since it contributes to the stability of the control system. In this method, however, precise positioning cannot be attained because of the some non-linear elements in the driving mechanism. Also, by the full-closed loop control which uses only the information of load's angle, it is difficult to keep the stability because of containing a flexibility between the sensor and the actuator, so it is necessary to control the system at low gain, and the positional accuracy is declined. Therefore, this study shows a method of fusing a semi-closed loop control into a full-closed loop control, and this technique solves mutual faults which a semi-closed and a full-closed loop control have and it gets a high positional accuracy. Also, the effectivity about this control technique is shown by the experiment.