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Abstract: The paper deals with the theoretical modelling of the high performance Integrated Electro-Hydraulic Actuator (IEHA) introduced in the first part of this work. Based of the hydraulic and dynamic equations, we carried out an analysis of the IEHA input/output relation. A simulation based on this input/output model is detailed showing the ability to access several time derivatives of the payload position mainly its “jerk”, which represents an important issue whenever motion control is considered. We show the theoretical dynamic properties of the proposed solution through open and closed loop simulation results based on Matlab-Simulink. A comparison between the theoretical and experimental results obtained by a built prototype is given in order to demonstrate the promising performances of the proposed solution. [Copyright &y& Elsevier]