A real-time engine model was presented for engine torque pulsation simulation (ETPS) under idling speed. Traditional engine models in the literature were often computationally intensive and not suited to accurately capture these dynamic characteristics using real-time simulation. Our model can be decomposed into a mean torque, inertia pulse and combustion pulse for real-time simulation. The engine torsional vibration model was established to meet the requirements of the dynamic characteristics of the platform. The sliding mode iterative learning controller was designed to improve system stability and dynamic response. Test results prove the validity and precision of this design approach.