A method of limiting jerk in a hydraulic system of a machine includes defining a maximum pressure rate. An output pressure of a hydraulic fluid is continuously measured over time from a work port of a hydraulic valve to determine an output pressure rate. The measured output pressure rate is compared to the maximum pressure rate. A requested flow rate is adjusted when the measured output pressure rate is greater than the maximum pressure rate to decrease the pressure differential generated in response to changing the flow rate of the hydraulic fluid through the valve, which thereby limits a change in acceleration or deceleration of the hydraulic system to limit felt jerk in the machine.