In this paper the problem of experimental control of hydraulic actuators is considered. Experimental results of a backstepping implementation are analyzed in the context of practical difficulties, mainly the measurements of the acceleration and pressure difference. A two degree-of-freedom controller is proposed to circumvent these difficulties in a framework that takes into account the measurement and the robustness problems. Simulations results illustrate the main features of the backstepping and the two degree-of-freedom controllers when applied on a hydraulic actuator.