This paper presents a new controller for position control of robot arm Mostly rubber actuator arm is used for robots, which is highly nonlinear. In order to achieve tire high speed and high precision positioning for robot arm, control method using a Quasi-Linear Minimal Order Feedback Controller has been proposed. The controller is minimal order and is able to produce desirable results. The key factor limiting the controller performance is the tradeoff between rate of convergence of tracking error. For simulations, a nonlinear system models the robot arm dynamics. The system is feedback linearized and the resultant dynamics of the feedback linearized system correspond to a certain class of linear systems, which makes it attractive for the application of a simpler order feedback control designed on the basis of quasi-linear feedback theory. Under this design, the pole of the lead-lag compensator depends on the gain of open loop system it shows the good performance can be obtained with a reduced control effort. The controller requires only the output measurement as compared to some other well known control approaches. The designed controller not only guarantees asymptotic tracking of the desired trajectories, but also ensures the safety. The simulation results show that the new strategy yields valid results.