In order to improve the labeling efficiency and quality of thermoplastic tube packaging, a labeling machine control system was designed with thermoplastic tube labeling as the research object. Labeling process includes label transportation, stripping, suction, location detection, automatic labeling and other processes. Based on PLC and SCADA, the labeling controller was designed, with PC as the upper computer and PLC as the lower computer. In order to ensure the matching accuracy of each axis, a nonlinear synchronous control method for multi-axis system was proposed. Finally, an experimental study was carried out. The results showed that the labeling speed can reach 60 pcs/min, the label edge error is less than 0.2 mm, and the labeling qualification rate can reach 99.68%. The labeling accuracy and efficiency are significantly improved, and the location of the label is basically the same. Scratch and contamination rarely appear on the surface. The control system can ensure the stable and continuous operation of the labeling machine and meet the requirements related to the labeling process.