Due to the shortcomings of traditional pumpcontrolled hydraulic system, such as low position tracking accuracy and slow frequency response, the precise motion control is difficult.Aiming at the nonlinear dynamic characteristics and parameter uncertainty of the electrohydraulic system model driven directly by servo motor pump, feedback adaptive robust control (ARC) was adopted to realize accurate motion control of the electrohydraulic system driven directly by servo pump. A dynamic model of electrohydraulic system driven directly by servo motor pump was established, and the dynamic model of the pump was reconstructed through the nonlinear pump flow mapping.The feedback ARC method was used to design the controller and the control input of the pump was synthesized, so the position of the cylinder actuator could track a desired trajectory, and the displacement slope response and servo pump power of the system model were simulated experimentally. The results show that compared with PID control, the displacement tracking error under feedback ARC control is greatly reduced, the average power of the servo pump is reduced by 55%, 26% and 63% respectively, and the peak power is also reduced. By using the feedback ARC control, effective model compensation can be realized, which makes the system run stably and improves the tracking performance and robust control performance of the system model.