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The computerized numerical control machine tool is a highly integrated mechatronic system in manufacturing processes. However, uncertainties degrade its motion accuracy. These include modeling errors, parameter variation, friction, and measurement errors that are present in either linear or nonlinear nature. In this paper, a state-space disturbance observer was successfully applied to servomotors to estimate and compensate for the uncertainties of parameter variation and current measurement problems, in the velocity and current loops, respectively. Furthermore, an autotuning procedure was developed accordingly to identify the varied parameters of the motor. Furthermore, by implementing the present servomotor systems in high-precision machine tools, the nonlinear friction compensation was adopted to reduce the slip-stick effect in contouring motion. Experimental results indicate that the roundness error has been significantly reduced from 13.3 to 2.0 ??m by applying the proposed approaches.