For the uncertainty of adaptation model, various nonlinear factors and diversity and complexity of operational environment the electrical actuator concerned, using velocity loop and position loop to realize a general robust control method is put forward. The design of the velocity loop controller adopts the principle of pole-zero cancellation to realize reconfiguration of the system pole and ensure the performance of the velocity loop is good and keep stable consistently. The position loop controller uses mixed sensitivity optimization design method to meet the requirement of the system robust stability, as well as ensure the control performance of the loop system. It also uses the balanced truncation method in the model reduction to remove the degree of freedom which contribute less to the system response and reserve the dominant mode, ensuring system performance and simplifying the position controller. By concrete design simulation verifying, the system is not only completely meet the performance characteristics, but also has better robustness. When the rotational inertia converted onto motor axis changes 2 to 6 times, using second order to fifth order position controller simulating, the high frequence in the position close loop Bode diagram of 4 kinds of controller changes slightly and the bandwidth is better than 20 Hz. The position loop unit step response is without overshoot and the ascent stage have difference; the adjustment time is better than 50 ms.