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This study proposes an integrated non-linear modelling method for an electromechanical actuation system directly driven by the switched reluctance motor (SDEMA). The mathematical model of the SDEMA system is established by energy analysis and calculation according to the proposed method, which omits the complex analysis of force or torque transmission in the cascade modelling method. By using the Lagrange-Maxwell equation and establishing the energy models of non-linear factors that include the friction, backlash, and flexibility, both the electromechanical coupling effects and the nonlinear factors of the SDEMA system are considered simultaneously in the proposed method. To verify the feasibility and effectiveness of the proposed method, three modelling methods of the SDEMA system are comparatively studied through the simulations and experiments. The results of the simulations and experiments indicate that the proposed integrative non-linear model can reflect the dynamic performance of the SDEMA system more accurately.This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.