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.