The invention relates to a control method for a mechanical-hydraulic system having a degree of freedom per hydraulic actuator which is embodied as a control path, and a measuring sensor which is used to measure the pressure ph of a hydraulic cylinder and a measuring sensor which is used to measure the position xh of the piston of the hydraulic cylinder. A control unit which can receive input variables of hydraulic pressure ph, and hydraulic actuator position xh, is provided. An observer, which determines the desired pressure of the hydraulic system and the speed vh of the hydraulic actuator, is implemented in the system. The desired pressure in the control element is taken into account in the set of rules of the control element and the speed vh of the hydraulic actuator can be over-ridden for attenuating the control element.