This paper presents the design and development of a two-degree-of-freedom scale system to simulate seismic signals. A linear dynamic model is derived from the Parks transformation since the plant has hybrid bipolar stepper motors. Laboratory tests are performed to validate the dynamic behavior of the plant. PI control strategies are designed to ensure the tracking of seismic signals and reduce the effect of disturbances. Experimental results verify the physical implementation when tested from a database of real seismic signals.