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In order to improve the control accuracy of the system, a hybrid controller which combines a delay observer, a nonlinear disturbance observer and a backstepping controller is proposed. The controller has the characteristics of compensating the delay of signal transmission, restraining the uncertain disturbance of control systems and high control precision. In order to verify the stability and validity of the proposed hybrid controller, a single-degree-of-freedom electro-hydraulic shaking table is used to verify the experimental results. The experimental results show that the proposed controller has better control effects than proportional integral derivative and backstepping controller.<\/jats:p>","DOI":"10.1177\/0959651819871149","type":"journal-article","created":{"date-parts":[[2019,9,9]],"date-time":"2019-09-09T06:16:28Z","timestamp":1568009788000},"page":"622-633","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Delay compensation position tracking control of electro-hydraulic servo systems based on a delay observer"],"prefix":"10.1177","volume":"234","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8286-0906","authenticated-orcid":false,"given":"Xingya","family":"Ding","sequence":"first","affiliation":[{"name":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China"},{"name":"Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology, Xuzhou, 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