This paper deal with an identification of a single rod hydraulic cylinder system and its motion control. Modeling and control of the electro-hydraulic servo system are difficult because system contains nonlinear elements. Therefore, this paper use the signal compression method to obtain the dynamic characteristic and apply the sliding mode control with sliding perturbation observer(SMCSPO) for robust control of hydraulic servo system. It is confirm that an identification of hydraulic servo system is possible and gets the good control performance through experiments.