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Hydraulic cylinder has been widely used as an actuator in industrial equipments and processes due to its linear movements, fast response and accurate positioning of heavy load. The nonlinear properties of hydraulic cylinder has challenged researchers to design a suitable controller for position control, motion control, and tracking control. This paper presents model identification and controller design using pole-placement method for real-time control of hydraulic cylinder. The plant mathematical model was approximated using Matlab system identification toolbox from open-loop input-output experimental data. The simulation studies and real-time studies were done using Visual C++ console programming. The simulation and real-time results were compared and they show about similar performances.