A　control　scheme　is　proposed　to　achieve　proximate　time-optimal　and　accurate　set-point　tracking　in　typical　double-integrator　servo　systems　with　control　saturation.　The　control　scheme　initially　applies　a　time-optimal　control　law　to　the　plant　for　fastest　tracking　whenever　possible,　and　then　switches　into　a　linear　control　law　for　smooth　settling　once　the　tracking　error　goes　down　to　a　specified　value.　An　extended　state　observer　is　designed　to　estimate　the　un-measured　velocity　signal　and　the　unknown　disturbance　for　feedback　and　compensation.　The　closed-loop　stability　is　analyzed　theoretically.　The　control　scheme　is　then　adopted　in　the　position　servo　control　of　a　permanent　magnet　synchronous　motor.　Matlab　simulations　are　conducted,　together　with　experimental　studies　based　on　the　TMS320F2812.　The　results　show　that　the　servo　system　can　track　a　wide　range　of　target　positions　fast　and　accurately,　and　has　some　degree　of　performance　robustness　against　the　disturbance　and　parameter　variations.