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Friction and unmodeled dynamics are common nonlinearities existing in motor servo systems. For these problems, by taking direct-drive dc motor for instance, the mathematic model concluding a continuously differentiable friction model is conducted. The bound of the unmodeled dynamics is estimated and the robust disturbances compensation term is designed. Furthermore, a trajectory-based regressor is adopted and the model-based compensation term is designed based on the trajectory and the derivatives of trajectory, which can reduce the noise sensitivity. The stability is proved via the Lyapunov analysis. Simulation results illustrate that the proposed approach can compensate the friction and disturbances well.