This paper considers the problem of velocity control of systems subjected to dynamic friction using a gain-scheduling approach. A simple servo-positioning system is used to illustrate the main issues of this kind of systems. The system is modelled as a linear parameter-varying (LPV) system and two linear gain-scheduling control strategies are proposed. First, a PI gain-scheduling controller is presented comparing its performance with classical linear control techniques. Then, an observer-based gain-scheduling controller, which is the main contribution of the paper, is also analyzed. The improvement achieved for these techniques are shown in simulation results.