Fatigue and durability tests are important to develop or to optimize the vehicle drivetrain system. Using the vehicle drivetrain road load simulation test rig to reproduce the longitudinal driving load of the vehicle on the real road and the vertical impact load caused when the vehicle is on a bumpy pavement. In order to improve the control accuracy and convergence speed, an iterative learning control (ILC) method is presented. After 10 times of learning, the control error of iterative learning control method is 4.8 %, it is better than the 7.1 % error achieved by proportional-integral-derivative (PID) control. The simulation results demonstrate that the ILC can improve the convergence rate and increase the tracking accuracy than the PID control method
