Summary: The positioning control using a joint torque is studied for a hub-beam system with a tip payload. In order to make the axial vibration of the beam accessible to the joint torque, the flexible beam mounted non-radially on the rigid hub is considered. Neither model truncation nor small deflection assumption is employed throughout the process of dynamic modelling and controller design. A joint PD controller with additional feedback of joint acceleration and root strain of the beam is derived using a Lyapunov-type method. Global asymptotic stability of the desired equilibrium position is proved rigorously. The geometrically exact formulation presented in this work can be viewed as a generalization of the related work based on the small deflection assumption investigated in the existing literature.