A controller design procedure for an electro-hydraulic positioning systems has been developed using $H{infty}$ control. The generalized plant models and weighting function for multiplicative uncertainty modelling error was presented along with $H{infty}$ controller designs in order to investigate the robust stability and performance. Both disturbance rejection and command tracking performances were improved with the $H{infty}$ controller, and the better uniformity of time response is achieved across wide range of operating conditions than the PID, LQR and LQG control scheme. The multiplicative uncertainty case was specifically suited for the design of an electro-hydraulic positioning control systems using $H{infty}$ control.