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For the design of the three closed-loop motor servo system included position, speed and current, in order to improve the control accuracy of system and good dynamic performance of control system, the method of the nonlinear system identification is raised. According to the mathematical model of the system, the method of feedforward compensation and feedback identification is used. Lugre model for friction and the identification of backlash are applied. The system can perform adaptive friction compensation. following error of the position and speed of the system is greatly reduced. It verifies that the nonlinear model is accurate and the compensation is effective. The result of the experiment shows that the proposed identification methods can accurately realize the identification of friction and backlash. Besides, it can improve the control accuracy of electronic actuator effectively.