The control system of a positioning mechanism with resonance and Coulomb friction has been designed using H∞ control theory, and the control performance has been verified by computer simulation and experimental analysis. DGKF type H∞ control with scalar weighting factors and GD type H∞ control with frequency-dependent weighting function based on integral action were utilized for designing the control system. The followings have been confirmed from this study: (1) H∞ control has good robustness properties for a wide range of operating conditions in the presence of external disturbances such as Coulomb friction. (2) DGKF type H∞ controller presents better convergence and robustness properties than GD type H∞ controller.