Frequency bifurcation is the most typical nonlinear phenomenon in inductive power transfer (IPT) systems. Two stable and one unstable resonant frequencies exist in a bifurcated IPT system while the unstable one lies between the two stable frequencies. To achieve the transition control of the bifurcated frequencies, this paper proposes an orbit shift method through a time delay perturbation, which is applied to the feedback signal. The phase trajectory can be shifted among the stable limit cycle attractors by adjusting the parameters of the time delay perturbation. The operation principle and implementation of the proposed method have been investigated in detail on an example IPT system with series tuned primary and secondary circuits. Both simulation and experimental results have verified the validation of the proposed method. The research results can provide useful theoretical reference for transition control of other similar multiple-attractor bifurcation behaviors.