for compensating for a positive friction value the friction compensation manipulated variable frictioncomp 150 and the negative control state for compensating for a negative friction value the friction compensation manipulated value frictioncomp 250 are similar in structure the different sign in the manual torque tbt however is taken into account by sign multiplication by u2212 1 or by a reversal of the comparison operators in states 3 5 an ascertainment is made in a first comparison 30 50 as to whether the i share of the position controller ipart is quantitatively higher than a specified i share for a zero limit zeropart if the i share ipart is quantitatively above an i share limit value zeroipart then the respective compensation control 38 58 is activated if the compensation limit for the compensation tbtready exceeds 32 or undershoots 52 the manual torque tbt and the limit for the lower manual torque 34 54 is undershot then the positive 38 or negative compensation control 58 may be started in states 3 5 otherwise a limiting value persistence 70 is checked in safety state 7 or a transition is made from control state 3 to control state 5 or vice versa following a storage step of variables 36 56 favorable limits for a stable state change are limits of approximately 0 1 nm for example below a manual torque tbt of approximately 0 1 nm the control assumes that the driver of the vehicle did not intend to perform a driving maneuver as a result the vehicle becomes more stable overall when there are smaller manual torque fluctuations in straightforward driving the two control according to fig2.