We report a 10 GHz harmonically and regeneratively mode-locked Yb fiber laser with a phase-locked loop (PLL) technique at 1.1 μm. Stable mode locking was achieved by optimizing the average dispersion of the fiber cavity to an anomalous dispersion to operate as a soliton laser. As a result, a 1.1 ps optical pulse with a timing jitter of 140 fs was successfully generated.