In digital displacement pump (DDP), the states of valves are nonlinear correlation with the instantaneous flow rate and flow fluctuation. For low-speed working condition, the digital valve has potential to switch several times to improve flow fluctuation. So, the relationship between the valve states and the flow rate is decoded, and a novel optimal fluctuation regulation (OFR) method including OFR-strict (OFR-S) and OFR-relaxation (OFR-R) is designed in this paper. The periodicity and the symmetry of OFR methods are proved and an optimal solution in the predefined minimum characteristic interval (MCI) is realized. Compared to the traditional sequential, partial, and pulse width modulation (PWM) methods, OFR-S has the minimum flow fluctuation, while OFR-R is preferred in low-speed ratio to reduce the digital valve switching frequency. At last, the effects of valve delay and oil compressibility are analyzed. As a theoretical precise optimal solution, OFR method demonstrates its ability in handling nonlinear problems in MCI. And it definitely will be a good base for the nonlinear controller design in the future.