Transmission friction and the return spring limp-home nonlinearity affect the performance of electronic throttle servosystems. The influence of these effects is analyzed by means of computer simulations and experiments. A novel friction model is developed, in order to adequately capture the experimentally observed characteristics of the presliding displacement and breakaway effects. A control strategy consisting of a PID controller and a compensator of friction and limp-home effects is proposed. It is verified by computer simulation and experiment.