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A computer-aided design method has been developed to predict, from limited information or estimates about system components, the performance of an electrohydraulic system under “feedback” control. The interactive computer program produces graphical solutions to step, ramp, and sine wave commands which allow the experimenter, designer, or engineer to optimize a particular experimental or prototype system for “best” performance in following the specified command. The simulated control system structure or an equivalent controller can then be implemented in hardware with an understanding of the realizable performance of the system before the components are purchased, fabricated, and assembled into the actual system.