In this paper, a prosthetic hand precise control method will be used to control the position of the prosthetic hand finger's motion depending on the sEMG signals as the control command, the PID controller using two different tuning methods genetic algorithm and Ziegler-Nichols. The two methods will be introduced and investigated. In the end, a comparison between the response of the system towards the tuning methods will be established, the system will build and simulate in the Sim-Mechanics environment provided by MATLAB software. All of this work is done as extended work of last paper under the topic `An Approach for Accurate Pattern Recognition of Four Hand Gestures Based on sEMG Signals' using its classified motions with accuracy 99.76 as an input command to the controller in order to design one complete prosthetic hand depend on the sEMG signals [1].