Abstract: Predictive control for a pump controlled motor electrohydraulic servo system is studied. The real-time control algorithm has been realized on a microcomputer. Some meaningful experimental results were obtained. The capacity of the basic predictive control scheme to overcome the effect of load changes is limited, so the model reference predictive control algorithm is thereby presented. Step response experiments show that the new algorithm is quite effective in reducing the influence of time-varying load. The robustness of the servo system has also been demonstrated by experiments.