In order to solve the problem of internal and external disturbances, parameter uncertainties and variable control gains in the electro-hydrostatic actuators(EHA) system, a reduced order linear active disturbance rejection position control method based on model information is proposed. Firstly, the control gain is selected based on the system model information. Then, the total disturbance in the EHA system is estimated by the reduced order linear extended state observe(ESO), and the disturbance term is added to the controller for compensation. By using singular perturbation theory, it is proved that the closed-loop system is semiglobally uniformly ultimately bounded, and the proposed controller can theoretically make the position track the desired trajectory with required accuracy as the bandwidth of the ESO becomes sufficiently high. The simulation results show that the proposed method has fast response speed, high control precision, and strong robustness to external disturbances and parameter uncertainties.