Friction moment effect is one of main factors which affect the tracking accuracy of high-precision turntable system when the system works at a low velocity.The Stribeck friction model was put on the high-precision turntable system,and then a controller was designed,which could identify and compensate the friction moment online.According to the characters of the friction moment model,the controller was designed by feedforward+integral feedback strategy.And we analyzed the stability by using Lyapunov function and Lasalle common invariance principle,and the result we obtained indicated that the tracking system could achieve semi-global asymptotic tracking.Finally,simulation results prove that the controller can compensate the nonlinear friction moment online.