A combined scheme of identification and torque control is provided for rotary hydraulic actuators. The composite controller consists of a dynamic feedback linearizing inner loop cascaded with a robust linear feedback outer loop. The proposed controller allows the actuator to generate desired torque irrespective of the actuator motion. In fact, the controller reduces significantly the impedance of the actuator as seen by its external load, making the system an ideal source of torque suitable for many robotics and automation applications. An identification method to extract the parameters of non-linear model of actuator dynamics and to estimate a bound for modeling uncertainty, used for synthesis of the outer optimal controller, is also presented. Results are illustrated experimentally on a pitch actuator of a Schilling industrial robot.