A　dual-parameter　design　of　expanded　proximate　time-optimal　controller　is　proposed　for　fast　point-to-point　motion　in　typical　electromechanical　servo　systems　with　a　damping　element.　The　controller　initially　resorts　to　a　saturated　control　signal　for　the　fastest　acceleration　or　braking　if　possible　and　then　seamlessly　gives　way　to　a　linear　control　strategy　once　the　motion　slows　down.　The　damping　ratio　and　natural　frequency　of　the　linear　control　law　are　chosen　as　the　design　parameters　to　allow　for　a　better　tuning　of　the　control　performance.　An　extended-state　observer　is　also　included　for　simultaneous　estimation　of　system　speed　and　disturbance.　Experimental　verification　is　conducted　on　a　DC　motor　position　servo　system　using　a　TMS320F28335　board,　and　the　effectiveness　of　the　proposed　design　is　demonstrated.