Traditional electro-hydraulic servo test rig is normally equipped with displacement PID controllers, it is not easy to properly replicate the target spectrum measured by accelerometer in actual service conditions. An offline iterative learn control loop (ILC) is built to reduce the error between acceleration signals measured on specimen and target signals. In order to eliminate cumulative error of time integration of acceleration, displacements-the ‘drives’-to be applied to the test rig are obtained by integration of the corrected acceleration in frequency domain. Experiment shows that acceleration spectrum can be appropriately reproduced after several iterative learnings.