This study presents a dynamic friction compensation technique for a class of mechanical systems in the
presence of dynamic friction eflects, based on the adaptive robust control (ARC) scheme. Both parametric
uncertainties, such as unknown dynamic friction parameters and inertia load, and uncertain nonlinearities,
such as external disturbances and unmeasurable state-dependent factors, may affect the mechanical system.
The proposed ARC scheme uses both the structural information of the dynamic friction model and the
available prior information on a physical system, such as the bounds of parameter variations and unmeasurable
friction state, for high performance, in contrast to existing deterministic robust control (DRC) and robust
adaptive control (AC) schemes. Specifically, certain projection-type alterations to the dynamic friction state
observers are constructed by completely using the physical constraint on the unmeasurable dynamic friction
state. This preserves the nominal estimate capabilities of the dynamic friction state observers while achieving
a regulated dynamic friction state estimation procedure even in the presence of disturbances. The resultant
controller achieves a guaranteed transient performance, meaning that the upper limit on the tracking error's
absolute magnitude throughout the whole time history is provided and connected in a known way to certain
controller design parameters. Additionally, asymptotic output tracking is realized when unknown
nonlinearities are absent. The suggested scheme's excellent performance and reflectiveness are shown by
comparative simulation results.