In this paper, the control problem for a novel walking assistance training robot is considered where the main objective is utilizing the robot to control the tilt angle and the position of a user. First, the novel walking assistance training robot together with a user is modeled as a nonlinear dynamical system in state space form with control input. Then, based on the nonlinear dynamical system and some results proposed in this paper, a feedback control system is developed, and a nonlinear state feedback control algorithm is designed where the control input includes two parts, namely, a dynamical part and a constant part. By doing this, it is ensured that the feedback control system is stable, and achieves the main objective under some limits for the control input. A simulation example is given to illustrate the effectiveness and performance of the proposed nonlinear state feedback control algorithm.