EPS is electronic power steering, it's in modern cars, it's completely electric and doesn't require any fluid to run. HPS is hydraulic power steering, which is installed in your baleno, there will be a power steering fluid bottle when you open your hood on the left side, make sure it's filled, and check it over sometime, if the liquid decreases then you have a leak in the power steering system, get it checked by a professional, if you are in Karachi, there's a shop near Piyala Hotel called Faizan Power Steering, his sole purpose is working on HPS and is very professional, go get it checked by him. Here is his location https://goo.gl/maps/or724GE8MxH2