To achieve accurate position regulation on servomotors, two control schemes were proposed, i.e., robust composite servo control based on extended state observer (ESO), and linear feedback control with integration of error. Using the damping ratio and natural frequency of the closedloop poles as design parameters, fullyparameterized control laws were presented in discrete time domain. The control laws were applied to a permanent magnet synchronous motor for experimental test. The results showed that the ESObased robust composite servo control could accomplish accurate setpoint motion for a wider range of target positions under various load conditions, with a desirable transient performance. In comparison, the integrationbased linear feedback control had a degraded servo performance when the target position or the load was varied, indicating a lack of robustness.