The invention discloses an adaptive robust force control method of simplified periodic disturbance compensation, and belongs to the field of electro-hydraulic servo control. The control method comprises the following steps: building a mathematical model of a load simulator; determining the adaptive rate of the parameters of the load simulator; and designing an adaptive robust force controller of simplified periodic disturbance compensation. The parameter uncertainty of the system and the uncertainty nonlinearity of external disturbance are considered in the method. In view of parameter uncertainty, a continuous projection function is used in estimation to ensure that the estimated value is within the range of parameter uncertainty. The method has the advantage of accurate parameter estimation. By using a fast dynamic compensation method, the defect that the output tracking performance is poor in adapting is overcome. A good simulation result is obtained in terms of both parameter estimation and tracking error. The nonlinear robust controller designed in the invention has continuous control voltage, and can be easily applied to practical engineering.