Abstract: Improvements in the Stabilisation Ratio (SR) of current Main Battle Tanks (MBTs) are due to the use of hull disturbance feedforward. For the predicted improvements to be realised, it is shown that the effects of non-linear friction must be compensated for. Simulations of a linear and non-linear Weapon Control System (WCS) are used to show the benefits of hull disturbance feedforward and the necessity to cancel out the effects of real friction in the non-linear case.