The invention provides a hydraulic motor positional servo system preset performance tracking control method with hysteresis compensation, which belongs to the field of electro-hydraulic servo control. A principle schematic diagram of the control method is shown in abstract accompanying figure. According to the hydraulic motor preset performance tracking control method, system parameter uncertainty, unmodeled outside interference and hysteresis nonlinearity are considered, and an excellent tracking controller is designed; for the hysteresis nonlinearity, the hysteresis nonlinearity is subjected to modeling to form the sum of a linear term and a bounded interference term, thereby greatly facilitating the design of a subsequent moving controller; for the system parameter uncertainty and the unmodeled interference term, a self-adaptive robust control method is adopted, and good parameter estimation and robust bounded stabilization are ensured; and for preset performance requirement, a preset performance function is adopted, reasonable planning of tracking error convergence speed and maximum overshoot is achieved, and the excellent tracking controller is designed for conversion errors, thereby further ensuring that the tracking errors satisfy the preset performance requirement. Further, effectiveness of the controller is verified through contrast simulation results.