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This paper presents an application of an adaptive fuzzy system for compensating the effects induced by the friction in mechanical system. An adaptive fuzzy system based on fuzzy basis functions is employed, and a bound on the tracking error is derived from the analysis of the tracking error dynamics. The hybrid-controller is a combination of a PD controller and an adaptive fuzzy controller which compensates for nonlinear friction. The proposed scheme is implemented and tested on a DC motor control system. The algorithm and simulations results are described. The results are relevant for many precision drives, such as those found in robot.