diff --git a/pkg/schedule/schedulers/scheduler_controller.go b/pkg/schedule/schedulers/scheduler_controller.go
index 4d72699b0fe..58cb802d629 100644
--- a/pkg/schedule/schedulers/scheduler_controller.go
+++ b/pkg/schedule/schedulers/scheduler_controller.go
@@ -30,6 +30,7 @@ import (
 	"github.com/tikv/pd/pkg/schedule/plan"
 	"github.com/tikv/pd/pkg/storage/endpoint"
 	"github.com/tikv/pd/pkg/utils/logutil"
+	"github.com/tikv/pd/pkg/utils/syncutil"
 	"go.uber.org/zap"
 )
 
@@ -40,7 +41,7 @@ var denySchedulersByLabelerCounter = labeler.LabelerEventCounter.WithLabelValues
 // Controller is used to manage all schedulers.
 type Controller struct {
 	sync.RWMutex
-	wg      sync.WaitGroup
+	wg      *syncutil.FlexibleWaitGroup
 	ctx     context.Context
 	cluster sche.SchedulerCluster
 	storage endpoint.ConfigStorage
@@ -57,6 +58,7 @@ type Controller struct {
 func NewController(ctx context.Context, cluster sche.SchedulerCluster, storage endpoint.ConfigStorage, opController *operator.Controller) *Controller {
 	return &Controller{
 		ctx:               ctx,
+		wg:                syncutil.NewFlexibleWaitGroup(),
 		cluster:           cluster,
 		storage:           storage,
 		schedulers:        make(map[string]*ScheduleController),
diff --git a/pkg/utils/syncutil/flexible_wait_group.go b/pkg/utils/syncutil/flexible_wait_group.go
new file mode 100644
index 00000000000..3ee602d7624
--- /dev/null
+++ b/pkg/utils/syncutil/flexible_wait_group.go
@@ -0,0 +1,60 @@
+// Copyright 2023 TiKV Project Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package syncutil
+
+import (
+	"sync"
+)
+
+// FlexibleWaitGroup is a flexible wait group.
+// Note: we can't use sync.WaitGroup because it doesn't support to call `Add` after `Wait` finished.
+type FlexibleWaitGroup struct {
+	sync.Mutex
+	count int
+	cond  *sync.Cond
+}
+
+// NewFlexibleWaitGroup creates a FlexibleWaitGroup.
+func NewFlexibleWaitGroup() *FlexibleWaitGroup {
+	dwg := &FlexibleWaitGroup{}
+	dwg.cond = sync.NewCond(&dwg.Mutex)
+	return dwg
+}
+
+// Add adds delta, which may be negative, to the FlexibleWaitGroup counter.
+// If the counter becomes zero, all goroutines blocked on Wait are released.
+func (fwg *FlexibleWaitGroup) Add(delta int) {
+	fwg.Lock()
+	defer fwg.Unlock()
+
+	fwg.count += delta
+	if fwg.count <= 0 {
+		fwg.cond.Broadcast()
+	}
+}
+
+// Done decrements the FlexibleWaitGroup counter.
+func (fwg *FlexibleWaitGroup) Done() {
+	fwg.Add(-1)
+}
+
+// Wait blocks until the FlexibleWaitGroup counter is zero.
+func (fwg *FlexibleWaitGroup) Wait() {
+	fwg.Lock()
+	for fwg.count > 0 {
+		fwg.cond.Wait()
+	}
+	fwg.Unlock()
+}
diff --git a/pkg/utils/syncutil/flexible_wait_group_test.go b/pkg/utils/syncutil/flexible_wait_group_test.go
new file mode 100644
index 00000000000..e98074cf55d
--- /dev/null
+++ b/pkg/utils/syncutil/flexible_wait_group_test.go
@@ -0,0 +1,68 @@
+// Copyright 2022 TiKV Project Authors.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package syncutil
+
+import (
+	"testing"
+	"time"
+
+	"github.com/stretchr/testify/require"
+)
+
+func TestFlexibleWaitGroup(t *testing.T) {
+	re := require.New(t)
+	fwg := NewFlexibleWaitGroup()
+	for i := 20; i >= 0; i-- {
+		fwg.Add(1)
+		go func(i int) {
+			defer fwg.Done()
+			time.Sleep(time.Millisecond * time.Duration(i*50))
+		}(i)
+	}
+	now := time.Now()
+	fwg.Wait()
+	re.GreaterOrEqual(time.Since(now).Milliseconds(), int64(1000))
+}
+
+func TestAddAfterWait(t *testing.T) {
+	fwg := NewFlexibleWaitGroup()
+	startWait := make(chan struct{})
+	addTwice := make(chan struct{})
+	done := make(chan struct{})
+
+	// First goroutine: Adds a task, then waits for the second task to be added before finishing.
+	go func() {
+		defer fwg.Done()
+		fwg.Add(1)
+		<-addTwice
+	}()
+
+	// Second goroutine:  adds a second task after ensure the third goroutine has started to wait
+	// and triggers the first goroutine to finish.
+	go func() {
+		defer fwg.Done()
+		<-startWait
+		fwg.Add(1)
+		addTwice <- struct{}{}
+	}()
+
+	// Third goroutine: waits for all tasks to be added, then finishes.
+	go func() {
+		startWait <- struct{}{}
+		fwg.Wait()
+		done <- struct{}{}
+	}()
+	<-done
+}