Control device for controlling a hydraulic cylinder unit, - wherein the control device has a controller (15, 15') designed, on the input side, to accept a setpoint variable (s*, F*) and an actual variable (s, F) and on the basis of the difference (δs, δF) between setpoint variable (s*, F*) and actual variable (s, F), to determine a preliminary manipulated variable (u, u') for valve control units of the hydraulic cylinder unit, - wherein the setpoint variable (s*, F*) is a setpoint position (s*) to be taken up by a piston of the hydraulic cylinder unit and the actual variable (s, F) is an actual position (s) taken up by the piston or the setpoint variable (s*, F*) is a setpoint force (F*) to be exerted by the piston and the actual variable (s, F) is an actual force to be exerted by the piston, - wherein a linearisation unit is arranged downstream of the controller (15, 15') designed, on the basis of the preliminary manipulated variable (u, u') and linearisation factors (fa to fd), to determine definitive manipulated variables (ua to ud) and to output them to valve control units (7a to 7d) so that the piston is adjusted with an adjustment speed (v), - wherein the linearisation unit is designed to determine the linearisation factors (fa to fd) dynamically as a function at least of the actual position (s) of the piston and to determine working pressures (pA, pB, pP, pT) obtaining on both sides of the piston as well as on the pump and tank side of the valve control units (7a to 7d), - wherein the linearisation unit is designed to determine the linearisation factors (fa to fd) such that a ratio of the adjustment speed (v) to the difference (δs, δF) between setpoint variable (s*, F*) and actual variable (s, F) is independent of the actual position (s) of the cylinder and the working pressures (pA, pB, pP, pT). - wherein the control device has a controller (15, 15') designed, on the input side, to accept a setpoint variable (s*, F*) and an actual variable (s, F) and on the basis of the difference (δs, δF) between setpoint variable (s*, F*) and actual variable (s, F), to determine a preliminary manipulated variable (u, u') for valve control units of the hydraulic cylinder unit, - wherein the setpoint variable (s*, F*) is a setpoint position (s*) to be taken up by a piston of the hydraulic cylinder unit and the actual variable (s, F) is an actual position (s) taken up by the piston or the setpoint variable (s*, F*) is a setpoint force (F*) to be exerted by the piston and the actual variable (s, F) is an actual force to be exerted by the piston, - wherein a linearisation unit is arranged downstream of the controller (15, 15') designed, on the basis of the preliminary manipulated variable (u, u') and linearisation factors (fa to fd), to determine definitive manipulated variables (ua to ud) and to output them to valve control units (7a to 7d) so that the piston is adjusted with an adjustment speed (v), - wherein the linearisation unit is designed to determine the linearisation factors (fa to fd) dynamically as a function at least of the actual position (s) of the piston and to determine working pressures (pA, pB, pP, pT) obtaining on both sides of the piston as well as on the pump and tank side of the valve control units (7a to 7d), - wherein the linearisation unit is designed to determine the linearisation factors (fa to fd) such that a ratio of the adjustment speed (v) to the difference (δs, δF) between setpoint variable (s*, F*) and actual variable (s, F) is independent of the actual position (s) of the cylinder and the working pressures (pA, pB, pP, pT).