The control purpose of an electro-hydraulic force control (EHFC) system is to real time replicate the force exerted on a structure in laboratory so as to simulate loads that cannot otherwise be generated naturally. In contrast to electro-hydraulic position control system, the tracking performance of EHFC system is always limited. To enhance the force replication accuracy of EHFC systems, a feedforward inverse controller integrating filtered-x LMS adaptive algorithm is presented in this paper. The proposed controller comprises a feedforward inverse controller and an adaptive controller. The feedforward inverse controller working as an inner loop is firstly established by directly cascading the designed parametric inverse transfer function to the EHFC system with proportional integral controller and the inverse transfer function is obtained with the implementation of system identification and zero magnitude error tracking technology. Then, the adaptive controller employing the filtered-x LMS algorithm acting as an outer loop is further combined with the feedforward controller to deal with the error occurred in the inverse model design procedure. Therefore, the proposed controller is an easy-to-implement strategy and can effectively enhance the force replication performance for both phase delay errors and amplitude mismatch errors. Finally, a series of experiments are carried out on a real EHFC test rig by means of xPC target technology, and the experimental results indicate that the proposed controller has a relatively better tracking accuracy compared with the proportional integral controller and the feedforward controller. It is also worth noting that the proposed controller can also be extended to other servo control systems where high accuracy tracking performance is required.