This　paper　proposes　an　alternative　design　of　expanded　proximate　time-optimal　servomechanism　(PTOS)　controller　for　typical　servo　systems　characterized　by　an　integrator　cascaded　with　a　damping　block.　The　control　law　is　parameterized　by　the　damping　ratio　and　natural　frequency　of　the　closed-loop　poles　within　a　speed-dependent　linear　region.　The　control　scheme　aims　to　accomplish　maximum　acceleration　or　braking　whenever　appropriate　and　then　smoothly　switches　into　a　linear　control　law　to　achieve　a　smooth　settling.　An　extended　state　observer　(ESO)　is　also　included　to　estimate　the　speed　and　disturbance　simultaneously　for　the　purpose　of　feedback　and　compensation.　The　control　scheme　is　applied　to　a　permanent　magnet　DC　motor　servo　system　for　set-point　position　regulation.　MATLAB　simulation　is　carried　out,　and　then　experimental　verification　is　conducted　using　a　TMS320F28335　digital　signal　controller　board.　The　results　confirm　that　the　servo　system　can　track　a　wide　range　of　target　references　with　superior　transient　performance　and　steady-state　accuracy.