An FLNN-based neural network controller is applied to precise positioning of XY table with friction as the extension study of [11]. The neural network identifies the frictional farces of the table. Its weight adaptation rule, named the reinforcement adaptive learning rule, is derived from the Lyapunov stability theory. The experimental results with 2-DOF XY table verify the effectiveness of the proposed control scheme. It is also expected that the proposed control approach is applicable to a wide class of mechanical systems.