Abstract: An example control system includes a cylinder actuator comprising a cylinder, a piston movable within the cylinder and configured to be coupled to a surface engaging implement, and a chamber within the cylinder configured to receive fluid to apply a fluid force on the piston; a proportional control valve configured to control fluid flow from a source of fluid to the chamber; a position sensor coupled to the cylinder actuator and configured to provide position sensor information indicative of a position of the piston; and a controller having access to a desired surface engagement position for the surface engaging implement, wherein the controller is configured to receive the position sensor information, and send a valve command signal to the proportional control valve to change the fluid force applied to the piston to achieve the desired surface engagement position.