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The reason of redundant force in force loading system for linear motion EHSA (Electro-hydraulic servo actuator) is analyzed and study. Firstly, the operation principle of EHSA were shortly introduced. In the view of reducing redundant force, a new servo control method with feedforward compensation based on the force feedback control theory for force loading system are designed and analyzed which is more effective and practical than traditional control methods. The loading system simulation model with traditional methods and new servo control method are established respectively, then the optimization of new control method is performed with AMESim, the results from the two control methods are analyzed. At last, the experiment were conducted by lab test bench and the experimental results accord with simulation results. The results show that the servo control method with feedforward compensation can reduce redundant force and improve the following accuracy of position significantly, which proves that this method is useful for other force loading systems.