The invention aims at a miniature remote controlled hydraulic actuator based on thin and long lose connection and a high pressure hydraulic driving system on hose connection, and discloses a non-linear compensation method for a hydraulic actuator so as to suppress the influence of the cavity change represented by the hose deformation on the time-varying nonlinearity of the system. Taking a miniature two-cylinder volume control system based on thin and long hose connection as an example, firstly, the dynamical equation of the system is established; secondly, the dynamical equation is transformed into a state space model so as to complete the mathematical model construction of the system; and finally, the double-loop controller layout based on the characteristics that an interference observer identifies an external load and a radial basis function neural network identifies the nonlinearity of the hose is designed, and meanwhile the stability of the system is determined by using a Lyapunov function in the design process. The non-linear compensation method can suppress the influence of the cavity change represented by the hose deformation on the time-varying nonlinearity of the system.