This paper addresses that an approximation and tracking control of realtime recurrent neural networks(RTRN) using two-dimensional iterative teaming algorithm for an electro-hydraulic servo system. Two dimensional learning rule is driven in the discrete system which consists of nonlinear output fuction and linear input. In order to control the trajectory of position, two RTRN with the same network architecture were used. Simulation results show that two RTRN using 2-D learning algorithm are able to approximate the plant output and desired trajectory to a very high degree of a accuracy respectively and the control algorithm using two identical RTRN was very effective to trajectory tracking of the electro-hydraulic servo system.