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The prominent performance of electro-hydraulic servo (EHS) system has received a positive admission in the industrial field. EHS system is well known to be disclosed to the parameter variations, disturbances and uncertainties which are affects by the changes in the operating conditions such as friction, internal and external leakage. The complexity and nonlinear characteristic of the EHS system leads to a great challenge in controller development and system modelling. The performance of the utilized controller can be improved in order to achieve its best capability. In this paper, the basic knowledge in optimization of the proportional-integral-derivative (PID) controller through Gradient Descent (GD) method was discussed. The PID parameters obtained through Ziegler-Nichols (ZN) tuning method has been optimized using the GD method via MATLAB/Simulink software. The findings illustrate significant improvement in the positioning tracking performance by applying the developed optimization technique. Therefore, the issues that were degraded the EHS system performance have been reduced.

Prosthetics hand is replacement of original hands that lose or damage because of war, trauma, accident or congenital anomalies. However, problems often occur on a prosthetics hand when dealing with the control capabilities and devising functional. Thus, an advanced mechanical design with control approach is required to improve the performance in terms of quality control in prosthetics hand and also enhance existing capabilities to the optimum level. This paper aims to develop a functional prosthetics hand at upper limb, which will focus on position of human hand particularly using the movement of finger instructions. In this paper, an intelligent controller, Fuzzy with Proportional-Integral-Derivative (Fuzzy-PID) controller is proposed to realize accurate force control with high performance. The performance of prosthetics hand model controlled by Fuzzy-PID controller is outperform the conventional PID controller and Fuzzy controller, where the improvement of the transient response and steady state error is achieved. Performance comparison of three different controllers has been presented through these evaluation process. 

It is well known that the electro-hydraulic actuator (EHA)