Control of extrusion-based printing is fundamental to improving the traditional open-loop operation of commercial machines. However, the literature on feedback control based on nozzle motion is still limited in comparison with the developments for extrusion dynamics. In this work, we propose a model-based control strategy where the effects of the nozzle speed on the filament width are described by a first-order model, and the model uncertainty is used for robust synthesis. The feedback employs the internal model controller (IMC) to get an approximate inversion of the dynamics and the IMC filter is tuned based on robust performance criteria. The controller was experimentally tested and provided satisfactory results, especially when the parameters were refined depending on the speed regime.