Current trends in expanding the scope of mechatronic systems with a hydraulic drive of active working bodies of self-propelled vehicles require the development of new approaches to solve the problem of improving the output characteristics of hydraulic drives of mechatronic systems with rotary hydraulic machines. It is established that for the drive of active working bodies and running systems of self-propelled equipment, the orbital and planetary hydraulic machines are mostly used. When designing mechatronic systems, much attention is paid to ensuring the specified output characteristics of the actuators of the designed system. A methodology for designing hydraulic mechatronic systems with the elements of multi-criteria optimization has been developed, which allows designing a mechatronic system with specified output characteristics. The optimization parameters of the controls of the mechatronic system with a hydraulic drive of the active working bodies of self-propelled vehicles have been substantiated. This technique involves five stages: the choice of the mechatronic system parameters; substantiation of optimized control parameters; development of a mechatronic system model; optimization of selected parameters of the mechatronic system; analysis of optimization results. The parameters of optimization of controls of a mechatronic system with a hydraulic drive for active working bodies and running systems of self-propelled vehicles have been substantiated. As a result of the studies, the optimal settings of the safety valve of the mechatronic system have been established, providing deviations of the pressure and angular velocity of the actuators from the set ones with an error of 0.17% and 0.67%, respectively.