As frequency-varying sine excitations in rotating machines are always emerging during run-ups and shutdowns, the multi-input-multi-output (MIMO) swept-sine test is of utter significance in product validation. At present, swept-sine vibration tests are mostly conducted with frequency-domain methods, where drive spectra are generated and updated by frequency response function (FRF), and drive signals are then generated with sinusoid oscillators. In this paper, a time-domain approach using an inverse system method based on a multistep prediction model is developed to realize the MIMO continuous swept-sine vibration test. First, the multistep prediction model of the original system is estimated in the time domain. Then, the inverse multistep prediction model is derived. After that, this model is truncated to guarantee the robustness of the inverse system and the smoothness of the generated drive signals. At last, the proposed method is validated by a simulation example with a cantilever beam and an actual test by using a three-axis shaker. The results show that the MIMO continuous swept-sine vibration test can be operated effectively by the proposed method.