The electro-hydraulic position control system, which has the shortcomings of highly nonlinear, time-varying of the internal parameters and disturbance of the external load, seriously affects the static and dynamic control. In order to solve this problem, a compound control strategy combining load compensation with ADRC (auto disturbance rejection controller) was put forward, and the working principle of the composite control strategy was given in this paper. ADRC controller was designed, and the extended state observer was used for observing internal parameters uncertainties and external disturbances, so that the disturbance of the system is suppressed effectively. Load compensation controllerwas designed and the compensation model was derived.They further weakened the adverse effects on the system due to the changes in the external load, and improved the position control accuracy of the system. The composite control strategy was verified on the simulation in Matlab and semi-physical simulation platform, respectively. And the simulation and experimental results show that the electro-hydraulic position control system with ADRC controller could effectively inhibit the interference of external disturbances, and the precise positioning control was realized after introducing the load compensation controller. And then the efficiency of the method presented was verified through simulations.