This paper presents a static and dynamic characteristics of the relief valve which is a kind of direct operated pressure control valve for hydrogen compressor. The valve is consisted of a main poppet, a spring, an adjuster and a valve body. The purpose of this study is development of the simulation model for relief valve by using commercial AMESlM$^{(R)}$ tool. Poppet with sharp edge seat type and ball poppet with sharp edge seat type compare for P-Q characteristic. The dynamic simulation results are presented the operating pressure characteristics of relief valve. High pressure power unit of which maximum pressure control range is 100MPa was manufactured, and the pressure control valve was experimented using the above-mentioned power unit. The new model of pressure control valve from this results was suggested. It was confirmed that the suggested valve has a good control performance from experimental setup.