A frequency-domain learning scheme based on the modified Fourier series for the tracking control of system with a low bandwidth limit is presented. The proposed controller consists of two parts: a PD controller, and an online updated learning controller. The proposed method can reduce the tracking error more effectively than the same type of controller based on the conventional Fourier series approximation when the controlled system has a low-bandwidth. Experimental results on a belt-driven positioning table have shown that a considerable improvement can be achieved.