In order to study the tracking error characteristics of a type of digital hydraulic cylinder, the complete AMESim simulation model was built according to the practical structure and working principle of digital hydraulic cylinder. The tracking error of digital hydraulic cylinder was studied in contrast in operation at different amplitudes, different frequencies and different types of input signals with the model. The specific laws and the reasons of tracking error changing were obtained through the analysis of the simulation results. The study results can provide significant guidance for the practical engineering application and error control of digital hydraulic cylinder.