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DC Servos: Application and Design with MATLAB® is designed and written with this problem in mind. It also presents two complete, bench-tested reference designs that can be duplicated using readily available parts, so you can build your own servo and see it in action.
When you click on links to various merchants on this site and make a purchase, this can result in this site earning a commission. Affiliate programs and affiliations include, but are not limited to, the eBay Partner Network.