In this talk experimental characterization of friction in an astronomical telescope will be discussed followed by introduction of a new model for capturing the observed behaviour of friction in both the micro and macro displacement regimes of motion. The new model is a modification of the LuGre model but in comparison, it is simpler to implement and valid for velocity reversal systems like an astronomical telescope. The proposed model is represented with a pair of masses separated by a linear spring. This model is then employed to synthesize a feedback linearizable controller for the system. The simulation results for the proposed friction model in open loop are presented and validated with the experimental results. The stability aspect of the closed loop system with the modified friction model is then investigated. For estimating the unmeasurable states of the system used in feedback linearization, observability of the system with the new model for friction will be discussed.