Bent axis electrohydraulic servo motors are one of the Electrohydraulic Servo Motors (EHSMs) family which are used in high frequency, speed, and precision applications such as aerospace applications as well as many military weapon system applications. Therefore, it is essential to understand how such motors affect the whole performance of the system which makes modeling of these motors is an important task to be achieved. Once an accurate model is obtained, an optimum controller can be applied. This paper introduces detailed mathematical modeling of a typical bent axis (EHSM). MATLAB SIMULINK package is used to simulate and control such (EHSM) using PID controller. The PID controller gains were tuned using PD-PI controller to obtain the precision response for the (EHSM). The validity of mathematical modeling was reviewed through some practical experiments.