An electro-hydraulic actuation system comprising: an unbalanced hydraulic actuator capable of motion in retraction and extension directions during movement of a load, the actuator including a first fluid chamber having a first cross-sectional area and a second fluid chamber having a second cross-sectional area, the second cross-sectional area being greater than the first cross-sectional area, the actuator operable in at least one of an actuator second quadrant of operation or an actuator third quadrant of operation, a regeneration valve in fluid communication with the first fluid chamber and the second fluid chamber, the regeneration valve operable to selectively couple the first fluid chamber to the second fluid chamber, a dump valve in fluid communication with the second fluid chamber and a fluid reservoir, the dump valve operable to selectively couple the second fluid chamber to the reservoir, a pump for providing a flow of fluid to the first and second fluid chambers, a displacement of the pump controlling a velocity of the actuator during motion in the retraction and extension directions, an electric motor for driving the pump, the motor operable in at least one of a first quadrant of operation or a fourth quadrant of operation, a controller for controlling a state of the regeneration valve and the dump valve, and at least one feedback device (80, 82, 120) for sensing a system condition and for providing a respective feedback signal indicative of the sensed system condition to the controller, the controller being responsive to the respective feedback signal to determine an occurrence of an over-centre load condition, characterized in that the controller is configured to control a state of the regeneration valve and the dump valve in response to the occurrence of the over-centre load condition to maintain the velocity of the actuator, in which the over-centre load condition comprises the hydraulic cylinder undergoing a transition between (i) an over-running load to a resistive load, or (ii) a resistive load to an overrunning load. an unbalanced hydraulic actuator capable of motion in retraction and extension directions during movement of a load, the actuator including a first fluid chamber having a first cross-sectional area and a second fluid chamber having a second cross-sectional area, the second cross-sectional area being greater than the first cross-sectional area, the actuator operable in at least one of an actuator second quadrant of operation or an actuator third quadrant of operation, a regeneration valve in fluid communication with the first fluid chamber and the second fluid chamber, the regeneration valve operable to selectively couple the first fluid chamber to the second fluid chamber, a dump valve in fluid communication with the second fluid chamber and a fluid reservoir, the dump valve operable to selectively couple the second fluid chamber to the reservoir, a pump for providing a flow of fluid to the first and second fluid chambers, a displacement of the pump controlling a velocity of the actuator during motion in the retraction and extension directions, an electric motor for driving the pump, the motor operable in at least one of a first quadrant of operation or a fourth quadrant of operation, a controller for controlling a state of the regeneration valve and the dump valve, and at least one feedback device (80, 82, 120) for sensing a system condition and for providing a respective feedback signal indicative of the sensed system condition to the controller, the controller being responsive to the respective feedback signal to determine an occurrence of an over-centre load condition, characterized in that the controller is configured to control a state of the regeneration valve and the dump valve in response to the occurrence of the over-centre load condition to maintain the velocity of the actuator, in which the over-centre load condition comprises the hydraulic cylinder undergoing a transition between (i) an over-running load to a resistive load, or (ii) a resistive load to an overrunning load.