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This paper proposes higher order error dynamics based back stepping controller design to compensate extra torque disturbance of electrical load simulator (ELS). Lugre friction model based observer is used to compensate nonlinear friction. ELS system and friction modeling error as well as uncertain parameters may lead to tracking errors. Using adaptive back stepping control techniques, transient response is guaranteed at the cost of chattering in control signal which may affect the control performance as well as adaptive loops used to estimate the uncertain parameters. A higher order error dynamics based back stepping torque controller is derived from the parametric equation of ELS and its stability is proved using Lyapunov method. The validity of proposed controller is verified using computer simulations. [ABSTRACT FROM PUBLISHER]