Electro-hydraulic servo system of stick supporting mechanism which was used to simulate the attack angle mechanism in wind tunnel was set up. The compound control strategy with speed feedforward and position feedback was presented. The speed feedforward model was deduced. And the reasonable speed and position signals were designed, by which the undisturbed switching of the speed feedforward control and the position feedback control was realized. The hydromechatronic model of electro-hydraulic servo system of stick supporting mechanism was established by co-simulation technology with AMESim and Motion. The simulation and experimental results conform to theoretical analysis and it is shown that the position and speed of the cylinder can be controlled simultaneously with the technology of speed and position hybrid control.