In order to analyse the performance on the Hydraulic Control Rod Driving System for HR-200 Heating Reactor and the factors affecting its performance and some possible improvements on this system, a method is presented, that is, at first to linearize the two-order nonlinear differential equations by neglecting the multi-powered small quantities or segmenting, then to solve the linearized differential equations by using Laplace transformation. The motion rule of the control rod near the balance position is found and a simple numerical method to calculate the rod`s movement on any position is proposed. The theoretical analyses and comparisons with experimental results are conducted. Both the theoretical analyses and the experiments show that with certain structural improvements and parameters change, this Hydraulic Control Rod Driving System will be able to work properly on HR-200. The main factors affecting the system`s performance are analyzed and some reasonable improving methods are proposed.