In order to solve the problems of position control for implement mounted on tractor, a discrete model of electro-hydraulic servo drive position control system is generated ant its controller is designed. To obtain good dynamic responses both in the position command tracking and load regulation characteristics, a position controller with two degrees of freedom is proposed. The parameters of the controller are found by using a systematic design procedure according to the given specifications. The performance of the controller is tested by some data recorded from the tea garden. The simulation results demonstrate the effectiveness of the proposed position control system.