Abstract: Aiming at the need for control precision and energy saving of electro-hydraulic servo system, a kind of separate meter in and meter out valve controlled cylinder system was proposed based on dual servo control. First, a mathematical model of the system was established. Then, the system was completely decoupled by using the adaptive robust method. According to the position servo conditions with active or negative loads, the inlet controller for position tracking and the outlet controller for pressure control were designed. At the same time, the energy saving of the system was analyzed, a source pressure controller was designed based on the ESO and the hydraulic pump flow servo controller was designed. Finally, the experiments were carried out to verify the control performance and energy-saving effect of the system.