We control a two mass system with uncertain parameter values, encompassing friction and hysteretic effects, modelled as a functional differential equation. As opposed to control strategies invoking identification mechanisms or neural networks, we propose controllers relying on structural system properties only. Output behaviour with prespecified accuracy is guaranteed by the funnel controller, active damping of the shaft oscillation by the high-pass filter, zero tracking output error in the steady state by the PI-controller and bounded input disturbances are rejected. Finally, the controllers are implemented on a real plant, an electrical drive.