To　achieve　fast,　smooth　and　accurate　set　point　tracking　in　servo　positioning　systems,　a　parameterized　design　of　nonlinear　feedback　controllers　is　presented,　based　on　a　so-called　composite　nonlinear　feedback　(CNF)　control　technique.　The　controller　designed　here　consists　of　a　linear　feedback　part　and　a　nonlinear　part.　The　linear　part　is　responsible　for　stability　and　fast　response　of　the　closed-loop　system.　The　nonlinear　part　serves　to　increase　the　damping　ratio　of　closed-loop　poles　as　the　controlled　output　approaches　the　target　reference.　The　CNF　control　brings　together　the　good　points　of　both　the　small　and　the　large　damping　ratio　cases,　by　continuously　scheduling　the　damping　ratio　of　the　dominant　closed-loop　poles　and　thus　has　the　capability　for　superior　transient　performance,　i.e.　a　fast　output　response　with　low　overshoot.　In　the　presence　of　constant　disturbances,　an　integral　action　is　included　so　as　to　remove　the　static　bias.　An　explicitly　parameterized　controller　is　derived　for　servo　positioning　systems　characterized　by　second-order　model.　Practical　application　in　a　micro　hard　disk　drive　servo　system　is　presented,　together　with　some　discussion　of　the　rationale　and　characteristics　of　such　design.　Simulation　and　experimental　results　demonstrate　the　effectiveness　of　this　control　design　methodology.