Close loop motion control implementation for electro hydraulic system with multistage telescopic cylinder aimed to articulate heavy load to desired angle while keeping acceleration, velocity of load and time to reach the desired angle within acceptable limit possesses stringent control system strategies. Conventional PID (Proportional-Integral-Derivative) control algorithm cannot be applied directly to control the system as these algorithms are also required to meet various other criteria apart from just to stabilize the system around the set point. In case of fail to meet these criteria can cause the damage to the components of subjected system and lead to disaster in worst case scenario. This paper describes the model based design approach to implement smooth motion control for heavy duty systems. In this paper motion control is implemented on special purpose heavy duty trailer used for articulation of cylindrical load from 0 to 90 ° with the help of electro hydraulic system comprises of two stage telescopic cylinder and load independent pressure compensated proportional flow control valve as a typical example. Plant model of the system has been developed, validated and used for testing of motion control algorithm. The results are presented and discussed.