Identification and compensation of non-linear friction for a electro-hydraulic system

•The improved Stribeck model is used to establish the non-linear friction model of a electro-hydraulic system.•The improved genetic algorithm is used to identify four unknown parameters in the friction model.•A dynamic friction feedforward compensation method is designed based on the velocity observer and the structural invariance principle.•Effectiveness of the friction model and the friction feedforward compensation method is validated by experiment.