Practical hydraulic control systems are nonlinear, high-order and parameters sensitive systems. On the other hand, usually the customer demands are difficult to achieve without some type of tradeoffs among these demands. Therefore, the burden of designing an optimal controller will be so complicated, and a suboptimal controller seems to be preferable. However, the validation of such design requires a detailed mathematical model of the hydraulic system and actual values of parameters. In this paper, a mathematical model of a hypothetical hydraulic system is derived first. Then, for the linearized model, a suboptimal controller is designed based on the LQR techniques. A Simulink model of the overall controlled system is utilized to simulate the closed-loop performance. The stable very fast response indicates the validity of the proposed procedure of design.