Waveform reproduction as a test method in vibration environment simulation technology has important practical significance in reducing the loss caused by vibration and meeting the needs of product upgrading. In order to improve the precision of waveform repetition and extend the bandwidth of the servo control system, a random waveform repetition strategy based on iterative control of time delay estimation was proposed. The three-state control strategy was studied to expand the system bandwidth, and then the lag time of the system was calculated by calculating the correlation coefficient between the response signal and the reference signal, to solve the delay problem in the hydraulic system and improve the waveform repetition accuracy. The iterative control algorithm based on time time- lag estimation was tested for waveform reproduction. The correlation coefficients after iteration are higher than those before iteration, which proves the effectiveness of the iterative algorithm based on time-lag estimation.