According to the position overshoot of fast positioning for electro-hydraulic position control system, a composite control strategy combining fuzzy velocity compensation with robust μ control was put forward, considering the influence of variable stiffness on position control system. The working principle of the composite strategy was given and the flow compensation equation was derived, and the velocity compensation without disturbance and the inhibiting of stiffness perturbation were achieved by using the controller combining fuzzy velocity compensation and robust μ controller. The composite strategy was verified by co-simulation of Matlab & AMESim and semi-physical simulation platform respectively, and the results of the simulation and experiment showed that the electro-hydraulic position servo system with robust μ controller could effectively inhibit parameter perturbation. The rapid positioning control was realized after introducing the velocity v compensation control loop, which verified the efficiency of the method presented through simulations.