This chapter introduces a hybrid modulation (HM) strategy for secondary-side control in IPT systems. Conventional pulse-width modulation (PWM) suffers from efficiency degradation under light loads, whereas pulse-density modulation (PDM) often produces substantial current and voltage ripples. To overcome these challenges, an optimal discrete PDM (D-PDM) is developed for active rectifier control. By uniformly and symmetrically distributing switching pulses, the introduced D-PDM suppresses even-order subharmonics in the rectifier input voltage, thereby reducing current distortion, voltage ripple, and capacitor DC bias. In addition, pulse-width adjustment is integrated into the D-PDM to enable continuous output regulation and further mitigate subharmonic effects. Experimental verification on an IPT prototype demonstrates that the introduced HM achieves less current and voltage ripple than conventional PDMs, while improving efficiency by up to 5.5% in the 10–60% power range compared with PWM.