the hitch on a vehicle is moved by a hydraulic actuator . a method for controlling the hydraulic actuator defines a draft force setpoint in response to separately averaging two forces acting on lateral sides of the hitch , while operating in a configuration mode . during regular operation , a draft load is calculated from sensing those two forces and deriving a draft force error from difference between the draft load and the draft force setpoint . the draft force error is used to control fluid flow to and from the hydraulic actuator . one aspect of the control method derates the draft force error as the hitch moves beyond a predefined threshold position .