This study deals with the design of feedforward compensator for the shake table system via Higher Order Sinusoidal Input Describing Functions (HOSIDFs) in order to reduce the performance degrading effect of the friction existing in the system. In this study, HOSIDFs are used to analyze the effect of Coulomb type friction on the output of the system. The study consists of implementation and design of feedforward compensator whose coefficients are calculated via HOSIDF based cost function given in the study. The study also involves harmonic plots and time-domain result of the system output which is the position of the shake table in order to illustrate the effect of the proposed feedforward compensator which improves the reference tracking performance via the reduction of the friction effect in the shake table system.