Large-stroke　rapid　motion　is　required　in　many　industrial　servo　systems　(e.g.　pick-and-place　applications),　on　which　constraints　of　control　input　and　motion　speed　are　usually　imposed.　This　paper　presents　a　hybrid　control　scheme　for　large-stroke　rapid　motion　in　such　systems.　The　controller　resorts　to　the　time-optimal　control　(TOC)　for　maximum　acceleration　initially　and　then　switches　into　a　linear　control　law　to　achieve　smooth　settling.　A　speed　regulation　stage　is　inserted　in　the　tracking　process　to　prevent　violating　the　speed　constraint.　To　tackle　the　unmeasured　speed　and　unknown　disturbance,　an　extended　state　observer　(ESO)　can　be　included　in　the　controller.　The　controller　is　applied　to　a　permanent　magnet　synchronous　motor　(PMSM)　servo　system　for　large-stroke　position　regulation.　Digital　simulation　via　MATLAB　is　conducted　first,　followed　by　an　experimental　verification　using　a　TMS320F28335　board.　The　results　confirm　that　the　proposed　controller　can　track　a　wide　range　of　target　references　with　desirable　performance　under　speed　constraint　and　load　disturbance　and　has　a　competitive　advantage　over　the　popular　active　disturbance-rejection　control　(ADRC)　scheme.