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This paper presents a novel Initial Value Compensation (IVC) technique in the framework of mode switching control for the fast and precise positioning. The mode switching control with IVC is one of the promising approaches to provide the robust property against plant perturbations. However, the shortening in IVC operation interval causes the increase in input amplitude, which leads to the deterioration of positioning performance due to the saturation in control input. In this research, therefore, a split initial value compensation based on input shaping techniques is applied to prevent the input amplitude from being saturated, and to be adaptive and robust against unknown parameter variations. The effectiveness of the proposed approach has been verified by experiments using a prototype of galvano scanner.