The adaptive model following bang‐bang control (BB‐MFC) and variable‐structure model following control (VSS‐MFC) have the advantage of no tracking error. However, they are impractical in mechanical application. They will excite the mechanical resonance due to the high‐frequency switching of control signal. Therefore, we use the “modified VSS”. By theoretical analysis, simulations and experiments, the “modified, VSS” effectively modifies the control signal. There was no mechanical resonance in the experiments of DC motor position control.