This paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator(EHLS). The tracking performance of the EHLS is mainly limited by the actuator’s motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the nonlinear motion loading model. The problems of the actuator’s disturbance and flow nonlinearity are considered. To address the friction problem, the friction model of the loading motor is identified experimentally. The friction disturbance is compensated using the obtained friction model. Therefore, this paper considers the main three factors comprehensively. The developed algorithm is easy to apply since the controller can be obtained just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method. The paper studies a nonlinear robust control algorithm of the electro-hydraulic load simulator (EHLS). The tracking performance of the EHLS is mainly limited by the actuator’s motion disturbance, flow nonlinearity, and friction, etc. The developed controller is developed based on the The problem of the actuator of disturbance and flow nonlinearity are considered. The problem of the actuator of disturbance and flow nonlinearity are considered. The main three factors comprehensively. The developed algorithm is easy to apply since the controller can be just with one step back-stepping design. The stability of the developed algorithm is proven via Lyapunov analysis. Both co-simulation and experiments are performed to verify the effectiveness of this method.