A nonlinear dynamical model is built for electrohydraulic servo shaking closed loop control system by taking into account of the nonlinear friction stribeck effect and volatile performance of static friction. Increment-dimensional precise integration method was employed to solve the response of system. Numerical calculation results show that nonlinear friction and flow nonlinearity affect a lot at the corner of inversing direction of hydraulic shaker, which cause quite large of distortion of waveform to appear, and is obedience to testing phenomena. Precise integration method in use avoids the problem of algebraic loop existed in MATLAB/Simulink simulation.