The fourth industrial revolution has driven initiatives worldwide following the Industry 4.0 (I4.0) context, requiring better integration and relationship between elements. This work was applied the Reference Architecture Model Industry 4.0 (RAMI 4.0) to present new models for standardizing entities in the I4.0 context to migrate legacy systems and standardize assets based on I4.0 Components (I4.0C). The management and orchestration of I4.0C can be achieved by attaching Artificial Intelligence (AI) concepts through intelligent entities describing the behavior and resources relationship, applying Multi-Agent systems (MAS), and adding self-organization, reconfiguration, plug ability, adaptation, and reasoning. Therefore, a manufacturing systems control framework is proposed based on capabilities and HMS/EPS application to orchestrate I4.0C.