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In this paper we present the design, implementation and experimental validation of a FPGA based position servo controller for a DC motor with dry friction. VHDL and block diagram modules for trajectory generation, encoder signal decoding, PI controller and PWM control signal generation are described. The control system is implemented in the DE3 board of Terasic Technologies Inc using Quartus II environment of Altera Corporation. Servo system simulation was made using Simulink. The analytical non linear model for the anti-windup saturation on the integral control action, saturation on the actuator and dry friction is validated through experiments and simulations.