Abstract: In this paper, a robust adaptive controller is proposed for high precision servo system with friction. The dynamic friction model based on the bristle friction model is first linearized and parameterized, which includes linearization and parameterization of stribeck effect; then, a global asymptotic stable adaptive control law is derived based on constructed Lyapunov function, and strict theoretical analysis is carried out for tracking performance of closed-loop system. Simulation proves the effectiveness of the proposed algorithm.