Providing a balanced treatment of the theoretical and practical sides of application and design, this book distills knowledge from various branches of applied science¿electrical and mechanical engineering, analog electronics, mechanics, control theory, digital electronics, embedded computing, and firmware design¿into a cohesive framework. It takes readers on a journey through servo school, enabling them to design real DC servos, using modern, readily accessible parts from two bench-tested reference designs. It provides a comprehensive toolset that designers can use to craft the more complex machines that society will demand in the twenty-first century.