diff --git a/Src/command.c b/Src/command.c
index bdfeb46..8ee2752 100644
--- a/Src/command.c
+++ b/Src/command.c
@@ -445,6 +445,51 @@ void handle_command(const uint8_t *frame, uint8_t len) {
                 send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
                 return;
 
+            case 3u: // M3 p_val: Actuator Channel. s_val: Actuator Duty Cycle
+                {
+                    uint32_t p_val = 0;
+                    uint32_t s_val = 0;
+
+                    bool has_p = find_parameter_value(cmd, cmd_len, 'P', &p_val);
+                    bool has_s = find_parameter_value(cmd, cmd_len, 'S', &s_val);
+
+                    if (!(has_p && has_s)) {
+                        send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
+                        return;
+                    }
+
+                    if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > 999u) {
+                        send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
+                        return;
+                    }
+                    COMMAND_DEBUG("M3 Command(PUSH): Actuator Channel=%u, Duty Cycle=%u", p_val, s_val);
+                    actuator_output((actuator_channel_t)p_val, (uint16_t)s_val, DIRECTION_PUSH);
+                    send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
+                }
+                return;
+            case 4u: // M4 p_val: Actuator Channel. s_val: Actuator Duty Cycle
+                {
+                    uint32_t p_val = 0;
+                    uint32_t s_val = 0;
+
+                    bool has_p = find_parameter_value(cmd, cmd_len, 'P', &p_val);
+                    bool has_s = find_parameter_value(cmd, cmd_len, 'S', &s_val);
+
+                    if (!(has_p && has_s)) {
+                        send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
+                        return;
+                    }
+
+                    if (p_val > (uint32_t)ACTUATOR_CH2 || s_val > 999u) {
+                        send_response(RESP_TYPE_PARAM_ERR, s_report_status_err, sizeof(s_report_status_err));
+                        return;
+                    }
+                    COMMAND_DEBUG("M4 Command(PULL): Actuator Channel=%u, Duty Cycle=%u", p_val, s_val);
+                    actuator_output((actuator_channel_t)p_val, (uint16_t)s_val, DIRECTION_PULL);
+                    send_response(RESP_TYPE_OK, s_report_status_ok, sizeof(s_report_status_ok));
+                }
+                return;
+
         /* ==========================================
          * M888 软件重启命令
          * ========================================== */