A computer-controlled automatic vibratory tillage test equipment which attained minimum draft and power was developed. Three control program modes were developed and tested with this equipment. A computer simulation investigated the control performances of the above modes with the following primary results. 1) All of the three control modes converged to the same steady state when the velocity ratio was kept constant. 2) The control mode in which the blade frequency was twice of the soil shearing frequency (frequency control mode) showed optimum control with minimum draft and power, and also had greatest velocity convergence. 3) Results of the simulations showed the frequency control mode to have achieved the best control performance. The fluctuation of the draft reduction was less than 10% at various cutting depths and soil moistures.