Full hydraulic rolling cut shear is important equipment in metallurgical production line.The heavy-duty servo cylinder is the core component, and it is usually required to be horizontally mounted to output curve force.However, owing to the influence of the weight of the heavy-duty horizontal servo cylinder, wear of the seal ring, leakage, and insufficient output force may occur.In this paper, the pressure-position double closed-loop independent PID control system designed, and a new structure of a small support cylinder connected to the end of a horizontally hinged servo cylinder was proposed.The internal model control was introduced into the PID controller design, and the IMC-PID controller was proposed.By establishing the relationship between the filter parameters and the parameters of the PID controller, the problems of multiple closed loop independent PID tuning parameters were solved.On Simulink simulation platform, IMC-PID and PID simulations were compared.The results show that IMC-PID can track the given signal stably and accurately, quickly reach the target value, and has strong anti-interference ability.This method can effectively improve the dynamic characteristics of the system, improve the robustness of the system, give better control quality than ordinary PID, thus providing important theoretical basis for practical engineerings.