Abstract HIGH-PRECISION tracking requires excellent control of slow motion and positioning. Recent advances have provided dynamic friction models that represent almost all experimentally observed properties of friction. The state space formulation of these new mathematical descriptions has the property that the state derivatives are continuous functions. This enables the application of established theories for nonlinear systems. The existence of locally stable fixed points does not imply for nonlinear systems the absence of limit cycles (periodic orbits) or unstable solutions. Therefore, global properties of PI velocity and PID position control are analyzed using a passivity and Lyapunov based approach. These linear control laws are then extended by nonlinear components based on the friction model considered. The applications presented in this work are in the domains of mechatronics and machine-tools.