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As the electric loading simulator usually has nonlinearity and parameters varying, the performance of traditional approach based on structure invariance principle is not good at eliminating surplus torque. In this paper, the mathematical model of electric loading simulator is established, the causes of surplus torque are analysed, and a compound controller based on CMAC and PID is designed. The results of simulation prove that the compound controller can effectively suppress the surplus torque and improve the dynamic performance of loading simulator.