This article examines the effect of friction model on the simulation accuracy of hydraulic cylinders by using three friction models: a steady-state friction model, the LuGre model, and the new modified LuGre model. Hydraulic cylinder’s behaviors are measured under different sinusoidal inputs to the servo valve. Simulations are conducted under the same conditions as the experiments. The comparisons of simulated results with measured ones show that the new modified LuGre model can predict accurately the hydraulic cylinder’s behaviors while the LuGre model may cause high-frequency oscillations in velocity, friction force, and pressures, which are not observed in experiments.