This paper deals with the issue of robust position tracking control and energy-saving control for a valve-controlled cylinder system using speed-controlled fixed displacement pump. The whole feedback control system is composed of a pair of interconnected subsystems, that is, valve-controlled cylinder system and load-sensing control system. From experiments it is shown that position tracking control in the load sensing control system can accomplish significant reduction in input energy to pump comparing to a conventional valve-controlled cylinder system, while exhibiting the same position tracking control accuracy.