Directing to the strong position coupling problem of electro-hydraulic load simulator(EHLS),this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters,viz.the flow gain coefficient of servo valve and total factors of flow-pressure coefficient.Taking trace error of torque control system to zero as control object,this article designs the adaptive nonlinear optimal compensation control strategy,which regards torque control output of closed-loop controller converging to zero as the control target,to optimize torque tracking performance.Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system.This article firstly builds and analyzes the mathematical models of hydraulic torque and positioning system,then designs an adaptive nonlinear optimal compensation controller,proves the validity of parameters estimation,and shows the comparison data among three control structures with various typical operating conditions,including proportion-integral-derivative(PID) controller only,the velocity synchronizing controller plus PID controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller.Experimental results show that systems’ nonlinear parameters are estimated exactly using the proposed method,and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control,and the torque servo system capability against sudden disturbance can be greatly improved. Directing to the strong position coupling problem of electro-hydraulic load simulator (EHLS), this article presents an adaptive nonlinear optimal compensation control strategy based on two estimated nonlinear parameters, viz. The flow gain coefficient of servo valve and total factors of flow-pressure coefficient.Taking trace error of torque control system to zero as control object, this article designs the adaptive nonlinear optimal compensation control strategy, which govern torque control output of closed-loop controller converging to zero as the control target, to optimize torque tracking performance. Electro-hydraulic load simulator is a typical case of the torque system which is strongly coupled with a hydraulic positioning system. This article first builds and analyzes the mathematical models of hydraulic torque and positioning system, then designs an adaptive nonlinear optimal compensation controller, proves the validity of parameters estimation, and shows the comparison data among three control structures with various typical operating conditions, including proportion-integral-derivative (PID) controller only, the velocity synchronizing controller plus PID controller and the proposed adaptive nonlinear optimal compensation controller plus PID controller. Experimental results show that systems’ nonlinear parameters are exactly using the proposed method, and the trace accuracy of the torque system is greatly enhanced by adaptive nonlinear optimal compensation control, and the torque servo system capability against sudden disturbance can be greatly improved.