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To eliminate the errors of cylinders’dynamic output positions of master side and the influence of random disturbance of slave side, disturbance state observer optimal control and robust dynamic compensate PD feedback control algorithm was presented for master-slave side, which is aiming at the nonlinearity and uncertainty of master-slave position control in the electro-hydrauli servo-telerobot. A linear-quadratic with disturbance observer and a dynamic robust compensator position controller were developed. Simulation and experimental results were given to demonstrate the availability of the proposed algorithm. The experimental results show that the designed controllers both improve position tracking precision for master-slave side and possess of good adaptive ability and robustness in existence of out side disturbance, enhances the operation of electro-hydraulic servo telerobot with force feedback.