Hydraulic drives are able to generate high forces and move large loads. With the help of proportional valves, it is possible to control movements fast and accurately. Depending on the application, a linear cylinder, a rotary cylinder or a rotary motor are used. Linear cylinders are most frequently used. The following designs are therefore confined to this type of drive. We compare among various types of cylinders which are common by used. We compared different conditions for cylinders with friction and without it.