The entire process of time waveform replication (TWR) for multiple-input multiple-output (MIMO) system is presented. The procedure of system identification based on frequency response function (FRF) and target signal iteration based on frequency-domain iteration learning control (ILC) algorithm is illustrated. The frequency-domain iteration learning control algorithm through setting proper overlaps and sections of the signals is proposed for control software development of vehicle road simulation test rig. A real 4-post test rig for road simulation test is chosen, and time waveform replication of vertical spindle acceleration signals of a vehicle is successfully achieved with the proposed algorithm. The result shows that the algorithm gets high precision and it could be used to control the test rig.