Since the existence of lumped uncertainties caused by uncertain parameters and unmeasured external load, the disturbance suppression is always a significant issue in research of electro-hydraulic system (EHS). In this paper, a type of terminal sliding mode observer (TSMO) is introduced for EHS, based on which the disturbances can be converged in a finite time. Then, based on TSMO, a controller is designed via recursive backstepping method to realize the displacement tracking control of EHS. Finally, simulated results are given to verify the feasibility of the proposed theoretical conclusions and a series of contrast experimental results are also given to illustrate the better performance of TSMO and proposed control strategy than others.
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