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This work proposes a method to reduce the steady state oscillation and to mitigate the probability of losing the tracking direction of the perturb and observed (P&O) based maximum power point tracking (MPPT) for PV system. The modified scheme retains the conventional P&O structure, but with a unique technique to dynamically alter the perturbation size. At the same time, a dynamic boundary condition is introduced to ensure that the algorithm will not diverge from its tracking locus. The modified P&O is simulated in Matlab Simulink and its performance is benchmarked using the standard MPPT efficiency (ηMPPT) calculation. Furthermore, the proposed concept is validated experimentally using a buck-boost converter, fed by a solar PV array simulator (PVAS). Based on the EN 50530 dynamic irradiance tests, the proposed method achieved an average ηMPPT almost 1.1% higher than the conventional P&O when irradiance changes slowly and about 12% higher under fast change of irradiance.