This study presents a robust control strategy to mitigate the effects of friction and mechanical vibrations in a 1-DOF electromechanical actuator for laser scanning systems. Using hyperbolic tangent functions ensures bounded control signals, preventing actuator saturation. Real-time vibration measurements with MPU6050 modules were conducted to characterize the system’s mechanical behavior. The stability of the system is ana-lyzed using the direct Lyapunov method and Barbalat’s lemma, ensuring global asymptotic stability. Simulations demonstrated the control strategy’s effectiveness in improving stability and accuracy. Future work will focus on implementing this control in a physical prototype for validation.