In view of the failure of continuous commutation of hybrid HVDC in the experiment, the of commutation process and continuous commutation failure of HVDC are analyzed firstly. Under this test condition, harmonic is one of the reasons for the continuous commutation failure of HVDC during restoration. Then the control strategy to suppress hybrid HVDC continuous commutation failure by harmonic voltage compensation is proposed. The harmonic voltage compensation component is added to the link to improve the reactive power support of the MMC-HVDC to the AC system during recovery. The reactive power control on the inverter side of the MMC-HVDC can help reduce the influence of harmonics, thereby suppressing the continuous commutation failure, the reliability and stability of MIDC Transmission System with MMC-HVDC is enhanced. At last, the effectiveness of coordinated control strategy is verified on PSCAD/EMTDC under the same test condition.