This paper presents the development of an algorithm for position control of feed drives in machine tools. The algorithm is constructed through an experimental method based on proportional control with a ramp input. In the first step of designing, a tracking-error curve is generated with the proportional control, and then an error model is decided to reduce the tracking error, Next, the output signal of the error model is added to the current error signal to yield the actuating error signal. The effectiveness of the proposed scheme is confirmed through simulation and experiments.