<p>This paper addresses the prescribed performance tracking control problem for electro-hydraulic systems subject to output constraints. First, a novel nonlinear state-dependent function is constructed to directly handle the output constraints, without imposing any restrictions on the reference trajectory. Subsequently, by introducing a new time-varying scaling function together with a barrier function, a robust state feedback control scheme is developed without requiring restrictive initial conditions on the tracking and virtual errors relative to the performance functions. Furthermore, the proposed controller features a simple structure and low computational cost, as it does not rely on approximation tools or estimation techniques. Extensive comparative simulations and experimental results are provided to demonstrate the effectiveness and applicability of the proposed method.</p>