System modeling is a vital tool for cost reduction and design process speed up in most engineering fields. The paper is focused on modeling of hydraulic arm as a part of intelligent prosthesis project, in the form of 2DOF open kinematic chain. The arm model combines mechanical, hydraulic and electric subsystems and uses Matlab as modeling tool. SimMechanics Matlab extension is used for mechanical part modeling, SimHydraulics toolbox is used for modeling of hydraulic circuit used for actuating corresponding mechanical components. Interconnection between the subsystems is essential issue, as it is surprisingly not a straightforward task in Matlab/Simulink, despite the fact that each toolbox works well if used in stand alone mode. The model is verrified with the physical model of hydraulic arm actuated by micro electro-hydraulic components. and Obsahuje seznam literatury