Despite numerous studies on modeling and detection of static friction (stiction) in control valves, compensation methods for this problem are limited. In this work, a stiction compensation framework is proposed which is based on the oscillation condition introduced in [17]. This condition was used as a tool to predict occurrence and severity of stiction-induced oscillations in control systems. The aim of this paper is to suggest re-tuning guidelines for controllers with regard to the presence of stiction in the control valve, to eliminate or reduce oscillations. A variety of processes and controllers are studied and recommendations are made in order to eliminate the stiction-induced oscillations. For oscillations that cannot be removed, the proposed method will reduce the frequency and magnitude of oscillations. This compensation framework has also been validated using two different pilot-scale experiments with different types of processes and an industrial control system. (C) 2012 Elsevier Ltd. All rights reserved.