The 35-year-old Spaniard, runner-up to Valentino Rossi in 2003 and 2004, is returning to racing after having retired from the sport at the end of the 2006 season.
Gibernau will ride a Ducati for the new Onde 2000 team, and he confesses his goal is not to be fighting on top.
"I'm not back to win, I'm back to enjoy riding, knowing full well that you can't compare the Sete from 2006 to the one of today," Gibernau told Gazzetta dello Sport.
"I lack the confidence and many small things that make you go quick. I know that in order to be close to my 2006 levels, I need to work a lot more."
The Catalan, a veteran of 155 races, says he will stay in MotoGP as long as it's fun.
"As long as I enjoy myself. I've signed a contract for one year, we'll see after that," he added.
Gibernau acknowledges the bikes have changed a lot in the two year he has been absent from the sport.
"A lot: the Ducati is now a very competitive bike with a lot of potential," he said. "Cornering speed is extremely quick and compared to 2006 there's a lot more electronics.
"You must trust it almost with your eyes closed, and I still can't do it. I think the rider should do certain things, while instead you must let the bike do it."
The Spanish rider, winner of nine races, suggested he might try to rebuild his relationship with Rossi, after falling out with the Italian in the final years of their battles.
"With Vale I enjoyed myself both on and off the track. Then life changes, but the experience is still positive. I did some fantastic races against a guy considered perhaps the strongest rider of all times. That for me is cause of pride.
"The relationship on a personal level was excellent for a while, then it changed, but I have big respect for Valentino. Perhaps now a good relationship can be rebuild again."
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