A control scheme was proposed to achieve largestroke fast setpoint motion in typical servo systems with an inertia damping block. The control scheme initially utilizes the timeoptimal control (TOC) to accomplish fast targeting, and then smoothly switches to linear control when the motion speed falls below the specified threshold. Using the damping ratio and natural frequency of the closedloop poles within the linear control regime as the two design parameters, a fullyparameterized control law was presented. The closedloop stability was analyzed based on the Lyapunov theory. The control scheme was applied to the positionvelocity control loop in a DC motor servo system for setpoint position regulation. MATLAB simulations had been carried out, together with experimental studies based on the TMS320F28335 DSC. The results showed that the proposed control scheme could track a wide range of target references fast and accurately, and had a good performance robustness with respect to the disturbance and parameter variations.