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This paper proposes linearization control for servo systems with friction and parameter identification based on LuGre model. We give the process of controller design using state space method and analysis conditions for asymptotic stability. Considering practical application, the structure of controller is simplified. To guarantee the system stability, parameters range is derived with Louts criterion. The dynamic parameters of LuGre model are usually difficult to obtain, thus a new identification algorithm is presented by utilizing a high-gain closed-loop speed control. The algorithm can conveniently get results in an acceptable precision scope. Finally, the validity of the algorithm is verified through simulation.