Friction force is an undesirable and nonlinear disturbance force that greatly influenced the accuracy and precision performance of machine tools. The main effect of friction forces is the formation of quadrant glitches during motion reversal. The traditional linear controller such as proportional-integral-derivative (PID) controller is required to be extended to model or non-model based techniques to provide high tracking performances. This paper mainly focuses on friction compensation of ball-screw driven system using nonlinear PID (N-PID) controller and friction model-based techniques. Adaptive behavior is introduced into PID controller by adding a nonlinear function. Two friction models namely; static friction model and Generalized Maxwell-slip (GMS) model are used. Experimental results showed that static friction model feedforward produced superior results in tracking error reduction whereas GMS model produced greater results in reduction of quadrant glitches magnitude. A combined model feedforward with N-PID controller that consists of both static and GMS friction models showed best performance in terms of tracking error and magnitude of quadrant glitches reduction as both advantages of respective individual friction models are combined and complement to each other.