This paper describes the development of linear parameter varying (LPV) models and an LPV-H ? controller for one degree of freedom (DoF) electro-hydraulic systems. A virtual set-up consists of a hydraulic actuator driven by a servovalve and supplied from a constant-pressure power unit. The LPV models are derived based on two techniques: black-box modeling and the analytical description of the system (white box modeling). Both methods are compared to each other and the derived models have been used for the design of the switching LPV-H? controller. Simulation results indicate predominance of adapting LPV framework to a hydraulic system control over conventional approaches. Scopus