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Inductive power transfer (IPT) systems have been extensively studied and incorporated into various industrial applications. An IPT system with the capability to provide constant current output (CCO) and constant voltage output (CVO) is necessary to ensure optimal battery performance. However, the resistance of the battery will continue to increase during the charging process, making it difficult for the system to realize load-independent CCO and CVO with zero phase angle (ZPA) operation. Therefore, this paper proposes an LC/S compensated IPT system, which can provide CCO and CVO at fixed frequencies. ZPA operation can be maintained in both CC and CV modes for low reactive power loss. Moreover, the total number of compensation elements of the system is minimized, with only one compensation capacitor on the receiving side, which ensures not only the low cost of the system but also a compact receiver. Finally, the correctness and feasibility of the proposed system are verified with simulations and experiments.