In this paper, an autonomous compensator for the quadrant glitch was developed, and its effectiveness is verified through simulation and experiments. The autonomous compensator composes of the newly developed torque following compensator and the friction compensator, which was already developed by our group. The principle of the developed torque following compensator is to correct the difference between an ideal torque and an actual torque with changing of torque due to friction changes. Only the developed compensator was applied to the controller, and simulation and experiment were conducted. As the results, it is found that the height of quadrant glitches only decreases up to about 50 %. However, the developed compensator can effectively correct the fluctuation of the height of quadrant glitches due to friction change and the difference of the heights by the friction force change has considerably become small. Then, the friction compensator was used together with the torque following compensator. Thus, it was confirmed that the quadrant glitches effectively disappeared.