In this paper, we consider a decoupling control and a servo control for the JINAMCHA of which the cart and the pointer is coupled very strongly. The right eigenstructure assignment(i.e. simultaneous assignment of eigenvalues and right eigenvectors) is used for decoupling the motions of the cart and the pointer. The CGT(Command Generator Tracker) is used for a servo control of the JINAMCHA. The performance of the proposed control scheme, that is the combination of the right eigenstructure assignment and the CGT, is evaluated by simulations. The results show that the proposed controller has better performance than the LQR with limiting properties and the conventional LQ servo.