The control problem of an electromechanical system becomes more complex when the flexibility and friction are taken into account in the system model. To approach this problem, an electromechanical system is studied in this research as a system model which is composed of a motor driving a load through a flexible belt. The work of this thesis proposes a new integral manifold control design to achieve desired system performance based on the integral manifold control techniques. The compensation of friction is performed with a new friction compensation component in the integral manifold control algorithm. A detailed derivation of the integral manifold control law is given for regulation systems with a method of calculating control gains in the final control algorithm. A further study on the regulation system is conducted by selecting a set of control parameters based on the system characteristic equation, while a switching integral manifold phenomena is illustrated for tracking systems by exploiting system performance in state space. Simulation and experimental results are presented that show a consistent improvement in the system performance with the integral manifold control design strategy.