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Servo system was built in Amesim based on the mathematical model, and a simulation analysis was then performed, aiming to replicate the input–output characteristics of the DEMA system to the greatest extent and to verify the control strategy.In the simulation of sweep characteristics, 10–20% of the EMA’s rated output is generally taken. The GSX40-1801 model boasts a rated output force of 17.6 kN, so 2 kN is taken as an example for simulation analysis.Under the condition of no external position disturbance input, a performance simulation analysis was conducted on the DEMA system introduced with a PID controller. Details are as follows:(1)Given a step command of 10 kN, a response curve of the DEMA system was obtained (as shown in Figure 9), with a rise time of 1.6 s and a steady-state error of 3 N (0.03%). It is worth mentioning that this result is relatively ideal. For actual EMA systems, such high control accuracy would not be possible due to sensor testing errors and nonlinear friction.(2)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 1 Hz, a response curve of the DEMA system was obtained (as shown in Figure 10), wherein the input curve and the output curve almost completely overlapped, with a tracking error of 63 N (3.15%).(3)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 5 Hz, a response curve of the DEMA system was obtained (as shown in Figure 11), wherein the overlap between the input curve and the output curve was relatively high, with a tracking error of 300 N (15%).(4)Given a sinusoidal command with an amplitude of 2 kN and a frequency of 10 Hz, a response curve of the DEMA system was obtained (as shown in Figure 12), wherein the overlap between the input curve and the output curve was slightly poor, with a tracking error of 550 N (27.5%).These simulation results demonstrated that the PID control method was simple and practical, which could improve the dynamic characteristics of the system and enhance its response speed and tracking accuracy. Nevertheless, the tracking accuracy of the DEMA system gradually decreased as the frequency of the command signal increased. 4.3. Design of a Force Servo System Controller to Overcome External Position DisturbancesThe end position of the EMA force servo system changes as the position of the loaded object changes. This change in the end position generates