This paper proposes a control scheme, modeled following control concept, for secondary controlled hydraulic systems with multiple motors. An MIMO bilinear model for the hydraulic system is developed and tested on a test stand, which shows a satisfactory approximation. With the help of this model, a control scheme based on the principle of model following control is developed. The derivation of the control law follows the application of Lyapunov theory, by which both the model following error and its integral are taken into account. Supported by a disturbance observer, the control scheme allows nearly global system linearization, stabilization and increase of system robustness. The application of the approach to the secondary controlled hydraulic system shows satisfying performance.