A　new　control　scheme　is　proposed　to　achieve　fast　and　accurate　servo　positioning.　The　control　scheme　incorporated　a　composite　nonlinear　feedback　(CNF)　control　technique　into　the　framework　of　proximate　time　optimal　control　(PTOC),　together　with　an　extended　state　observer　(ESO).　The　CNF　control　law　consisted　of　a　linear　feedback　part　for　achieving　fast　response　and　a　nonlinear　feedback　part　for　suppressing　the　overshoot,　so　as　to　improve　the　transient　performance　in　short　span　positioning,　while　the　PTOC　law　was　responsible　for　fast　acceleration　and　deceleration　when　the　tracking　error　was　large.　The　ESO　was　designed　to　estimate　the　unknown　velocity　and　compensate　the　disturbance　in　servo　systems,　thus　effectively　removed　the　static　error.　A　parameterized　controller　was　designed　for　servo　systems　modeled　by　a　double　integrator.　The　design　was　then　applied　to　a　ball-beam　system　for　positioning　control.　Experimental　results　verify　that　the　controlled　system　is　capable　of　fast　and　accurate　positioning　on　target　locations,　with　a　strong　performance　robustness.　The　control　scheme　can　be　extended　to　other　servo　systems.