For the electro-hydraulic servo vibrating system(ESVS) with the characteristics of non-linearity and repeating motion, a novel method, PI-type iterative leing control(ILC), is proposed on the basis of traditional PID control. By using memory ability of computer, the method keeps last time’s tracking error of the system and then applies the error information to the next time’s control process. At the same time, a forgetting factor and a D-type leing law of feedforward fuzzy-inferring referenced displacement error under the optimal objective are employed to enhance the systemic robustness and tracking accuracy. The results of simulation and test reveal that the algorithm has a trait of high repeating precision, and could restrain the influence of nonlinear factors like leaking, extal disturbance, aerated oil, etc. Compared with traditional PID control, it could better meet the requirement of nonlinear electro-hydraulic servo vibrating system.