High precision printing machine is essential to make more sophisticated printed electronics. Especially in roll-to-roll printing, flexible substrate and non-ideal rolls induces non-linear effect which is hard to be overcome by conventional control systems. The non-ideal contacting rolls make huge perturbation in printing force. In this paper, we propose a hybrid printing force control system to give a uniform printing condition at the region that the printing occurs. The unique parallel arrangement of two force components enables excellent regulation of the printing force together with low power consumption. Experimental results verify the performance of the hybrid force control system comparing with a conventional system. In-situ printing quality test using pressure-sensitive film confirms the effectiveness of the proposed system.