A real tine simulator of running power train for a construction vehicle was developed. The simulator mainly consists of following two parts; (1) running power train part and (2) running load generation part. An optimal servo control algorithm was adopted for designing the multi-variable digital control system of the simulator. By experiments investigating response characteristics under step-wise variation or pre-determined scenario of target vehicle velocity and target load torque, it was verified that the simulator could reproduce physical situations at and actual vehicle with excellent similarity.