Abstract: A controller optimization design study was carried out in this paper to improve the dynamic characteristics of the asymmetric hydraulic cylinder system controlled by a four-way valve. The model identification was conducted using a joint simulation of AMESim-MATLAB, resulting in a transfer function model with an average displacement error of only 4.31 mm, demonstrating high accuracy. The frequency domain characteristics were analyzed based on the Bode diagram. The results showed that the system was stable, but the sensitivity and responding speed were unsatisfactory. Two optimal PID controllers were designed. The optimal PID controller based on the genetic algorithm had the fastest response speed, with delay time, rise time, and maximum overshoot are 0.152 s, 0.323 s, and 3.43%, respectively. The optimal PID controller based on the first-order delay approximation model had high control accuracy, with delay time, rise time, and maximum overshoot of 0.396 s, 0.438 s, and 0, respectively. Both designed controllers can effectively improve the dynamic characteristics of the system.