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In order to improve control precision and operation performance at low speeds, we built a three-loop control nonlinear model of an AC servo motor with Stribeck friction disturbance. Traditional proportional-integral-derivative controller (PID) and fuzzy PID controls were, respectively, adopted in the position loop, and the control performance was simulated. The results showed that a system with fuzzy PID control eliminates ``flat top'' position tracking and ``dead zone'' speed tracking, which are generated by traditional PID, and thereby decreases the effect of friction on the performance of the servo system. 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