An improved adaptive control methodology based on minimal control synthesis (MCS) for uncertain system with time varying unknown parameters and times-varying disturbances of shaking table during test was presented. The principle of traditional PID and MCS for improving the track accuracy of displacement was analyzed and compared. Minimal control synthesis integral (MCSI) was used as the outer-loop of road simulator test system servo controller. A mathematical model for actuating unit of one channel road simulator test system was built. The three controllers (PID, MCS and MCSI) were simulated. The simulation results showed that the track accuracy of displacement with MCS and MCSI was better than traditional PID, and the track accuracy of MCSI was better than traditional MCS and adaptive MCS and MCSI algorithm had a merit which could online adjust the parameters. In the end, the implementation of a rapid prototyping control system was presented. The Simulink module of road simulator test system was designed by using Matlab/Simulink, The code generated automatically in the CCS integrated development environment. The executable codes were downloaded to the Texas Instruments (TMS320C2812 and TMS320C6713). 