This paper applies H ∞ robust control to two motor web-winding system based on a novel web-winding system model. The novel model combines the classical mathematical model of web-winding system with the substrate driven-motor model to improve the systematic dynamics. Firstly, the novel model considering the substrate driven-motor model is given. Secondly, the time-varying and uncertainty is solved by introducing interval matrix theory. Next, the reference control input and error dynamic model are derived based the novel model. Then, the H ∞ robust controller is designed to compute control compensation. And by calculating Linear Matrix Inequalities (LMI), controller gain matrix is obtained. Finally, the effectiveness of the designed controller and proposed model are illustrated by simulations.