1 Introduction：Amazing asymmetrical hydraulics1.1 Enduring interest in hydraulics research1.2 From theory to practice1.3 Look at the content from a macro perspective2 From historical evolution to disciplinary contributions2.1 A wide variety of hydraulic systems2.2 Valves & Pumps2.3 Modelling of hydraulic cylinder systems2.4 Mysterious friction2.5 Concluding remarks3 Component linking modelling method3.1 Moog valve controlled asymmetric cylinder system3.2 Modelling results in Simulink and nonlinearities research3.3 Computing efficiency of analytical solution3.4 Irreplaceable advantages4 Hybrid pump-controlled asymmetric cylinder system4.1 Design Blueprints4.2 System components and parameters4.3 Concluding remarks5 A new friction model based on LuGre model5.1 Implement of the new friction model5.2 A unique figure in the data fog5.3 Contrast shows the truth5.4 Concluding remarks6 System modelling6.1 Learn the new from the old6.2 Learn mathematically about component models6.3 The final model7 Experiment to explore the truth, simulation to see the future7.1 Square wave test results analysis7.2 Sine wave test results analysis7.3 Simulation results7.4 Concluding remarks8 Energy efficiency comparison8.1 Contrast from theory to practice8.2 Undercurrent energy efficiency contest8.3 Conclusion remarks9 Research ends, future road, innovation continues9.1 Conclusions9.2 New chapter in the futureReferences