Tohoku University and Rikkyo University are carrying out the project of Venus observation with high precision using a balloon-borne telescope. In this paper, the outline of Balloon-Borne Telescope for the optical remote sensing of Venus is introduced, and the simulation model of three-stage control method is constructed. For this observation, the pointing technology with high precision to restrain the slight moving of image is necessary. The target precision is only 0.1 arc seconds. The dynamics and control model is defined firstly, and the model parameters are determined by the experimental verification. By developing the numerical simulation tool, the motion can be estimated in the simulator, and the control strategy can be more easily optimized compared to the gain adjustment only based on experiments.