Repetitive control (RC) is a commonly employed approach for accurately tracking periodic signals and mitigating periodic disturbances. However, the inherent delay in repetitive controllers can adversely impact both transient and steady-state system performances. To address this challenge and enhance the overall performance of repetitive control systems, a digital dual mode repetitive control (DMRC) strategy has been introduced. DMRC has high tracking precision and swift transient response, representing a significant and noteworthy improvement. Based on DMRC, a modified dual mode repetitive control (MDRC) is introduced in the paper. The superiority of this method is analyzed. The experimental results show that MDRC can improve the steady state control accuracy of the system when the control system remains stable.