The dynamic control characteristics of the hydraulic control system of one DOF hydraulic test bench were analyzed according to the high control performance requirements of the one DOF hydraulic test bench.The working principle of one DOF hydraulic test bench and the mathematical model of the main components of the hydraulic control system were analyzed; the Fuzzy-PID controller was analyzed and designed; the co-simulation model of the hydarulic control system of one DOF hydraulic test bench was established in AMESim-MATLAB. The control characteristics of the one DOF hydraulic test bench with Fuzzy-PID control and conventional PID control were compared and analyzed. The results show that the one DOF hydraulic test bench controlled by Fuzzy-PID has excellent servo tracking performance.