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Subgrade bears both the impacts of the high-speed train and the weight of superstructures. Its stability affects the line smoothness directly, but it is very hard to simulate its working condition, and the in situ testing method is inadequate. The article presents a railway roadbed in situ testing device, and it proposes an excitation hydraulic cylinder system to output static and dynamic pressure simultaneously in order to simulate the force of the train. The dynamic following performance is quite poor without control algorithm, so the robust control block is adopted to improve the following performance of the excitation system under different frequencies and waveforms. In addition, considering the effects of the external disturbances, simulation is carried out with a certain intensity of noise to test the effectiveness of the control scheme. The simulation results show that the robust control algorithm makes the excitation system achieving much better following performance.