Methods of controlling an actuator 101 during operation using a hydraulic circuit, and related apparatus, are described. The circuit can comprise a first path section along which fluid is supplied to a first chamber of the actuator using a first valve 110 and a second path section along which fluid is extracted from a second chamber of the actuator using a second valve 111. In various embodiments, pressure data associated with a pressure of the fluid supplied to the first side of the actuator are obtained, a pilot pressure pPilot is produced based on the data and the first and second valves are configured based on the pilot pressure pPilot.