Electro-hydraulic actuators have been widely applied in industry with position or pressure control. Nevertheless, the conventional linear control technology is not able to satisfy the requirement of improving the control precision due to the nonlinearities of hydraulic systems. This paper presents two control strategies based on intelligent-PI in order to track a position of electro- hydraulic system. The aim here is to compare three controllers: proportional controller, free-model controller, restricted model controller based on partial model system. The analysis of the obtained results shows that this last one presents the better performance than the two other.