Best control algorithm for DC motor position

Hello,
I have to develop a digital controller to control the angular position of a DC motor.
A load is directly fixed on the motor axis with an important static
friction.
A static error is tolareted but the dynamic error should remain limited when a sin wave motion is asked for example.
The position is measured with an encoder The current is not measured
What type of controller could fit to these needs? - direct load - static friction to compensate - fast response to limit dynamic error
Thanks for your help.
For information, I attach the values
Greg.
begin 666 values.txt M#0HM('1O<G%U92!C;VYS=&%N=" @(" @(# L,34@($YM+T$@#0HM(&UO=&]R M(')E<VES=&%N8V4@(" @(#,@3VAM( T*+2!M;W1O<B!I;F1U8W1A;F-E(" @ M("!^(# N,# U($@-"BT@8W5R<F%N="!L:6UI=&%T:6]N(" @-"!!#0HM/B P M+C8@3FT@879A:6QA8FQE#0H-"BT@<W1A=&EC(&9R:6-T:6]N(" @,"XR($YM M#0HM(&QO860@:6YE<G1I82 @(" @(# N,#(P($MG(&TR#0H-"BT@8V]N=')O M;"!A;&=O<FET:&T@<&5R:6]D(" T;7,-"BT@96YC;V1E<B!P<F5C:7-I;VX@ M(" @(" @(" Q-B!B:71S#0H-"FUA>"!A8V-E;&5R871I;VX@(" Q,#"P+W,R M#0IM87@@L;V-I='D@(" @(" @,3 PL"]S#0ID>6YA;6EC(&5R<F]R(" @ +(" @/" P+C6P#0H` ` end
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