Best control algorithm for DC motor position

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
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
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