In this paper small-signal model of a symmetrical clamped mode controlled series-series compensated inductive power transfer (IPT) system has been derived using the extended describing function (EDF) method. The derived model has duty cycle, input voltage and switching frequency as control variables and an output voltage as an output variable. A voltage controller has been designed for symmetrical clamped mode control using the SISO Design Tool from MATLAB®. To test the designed controller, a prototype of the series-series compensated IPT system has been developed in lab. Simulation results and experimental results are presented in this paper for the validation of the designed controller. © 2016 IEEE.