Kubernetes: Use kubeadm to test change in other component

I'm working on Kubernetes to test some customized controller logic. I modified some controller code and now I want to test it. Since it needs at least two worker nodes to test the function, I'm using kubeadm to setup the cluster and joining worker node.

However, the kubeadm seems to use the pulled kube-controller-manager image. Is there a way to use my modified controller-manager binary instead in kubeadm?

Thanks