Abstarct: The following thesis investigates the issue of position control in a hydraulic elevator. Minimizing the tracking error, providing comfort for passengers, cancelling the disturbances and smooth control signal are the main control objectives that we must take into consideration. The novelty of this thesis lies in utilizing an impedance control approach to reduce the disturbances due to load variation, therefore, maintaining the desired performance of the system. Impedance control is a coherent set of control strategies which could provide both position and force control at the same time. It is simple and free of model. To implement impedance rule into the system, we present a control structure with two position and force control loops. We used feedback linearization in force control loop and fuzzy control in position control loop. Position controller will be designed to track the reference trajectory of the cabin. Then, a force controller would be used to track the reference force generated from the position controller. The output of the force controller will be fed into hydraulic actuator to provide the required force for cabin displacement. The results of simulation would provide an insight into the role of impedance control in improving the performance of the system and reducing the disturbances due to the load variation.