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In order to analyze and optimize the control performance of the hydraulic actuator better, the model of hydraulic actuator servo system is established based on control theories. Hydraulic actuator system based on conventional control method has low converging speed and low ability of anti-jamming. Aiming at these problems, expert experience is summarized and five control rules are got, then expert PID controller is designed. At last the hydraulic actuator system is simulated with Matlab/simulink under the effect of unit step signal. The result shows that compared with PID control and P control, expert PID control makes the accommodative time is cut by 0.104s, the cut extent attain 71%, and the time of accommodativeness after being got disturbance is cut by 0.034s. It effectively raises the rapidity and anti- disturbance of the system and gets a good control result. 