This thesis presents the dynamic design and control of a novel electro-hydraulic actuator (EHA) for mobile applications; based on displacement control (direct connection between pump and cylinder) and a bypass valve used to achieve precise low-velocity actuation. A state-of-the-art study among the different hydraulic actuation systems enlightened the advantages of the EHA in terms of energy losses and regeneration capability. Together with the differences in terms of dynamic behavior that such a unique configuration leads. A functional prototype early developed at MAHA Fluid Power Lab was used as a reference. A detailed analysis of the constitutive hydraulic components resulted in a complete digital model of the overall system.