In this paper, an E/H control design is proposed for flow control in hydraulic systems using poppet valves. With the pressures at the valve input and output ports being known, the proposed poppet valve flow control is formulated as tracking the desired poppet displacement xd(t) under the system disturbances. No pilot pressure is required. Using the control pressure at its equilibrium points, the proposed control law largely simplifies the real world implementation with bounded tracking error. Preliminary studies show that the proposed controller is capable of controlling the flow in both directions, with some limitations on the pressure difference between input and output ports while flow is reversed. Simulation results show the effectiveness of the presented control design and experimental validations are scheduled in near future.