A　modified　design　of　expanded　proximate　time-optimal　servo　(PTOS)　controller　is　proposed　for　typical　servo　systems　characterized　by　an　integrator　cascaded　with　a　damping　block.　The　controller　resorts　to　the　time-optimal　control　for　initial　acceleration,　and　then　switches　into　a　linear　control　law　to　achieve　a　smooth　settling.　In　the　presence　of　speed　constraint,　a　speed　regulation　stage　is　inserted　in　the　tracking　process.　Thus　the　controller　can　accomplish　large-stroke　motion　in　speed-constrained　servo　systems.　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　DC　servo　system　for　position　control.　MATLAB　simulation　and　experimental　verification　using　a　TMS320F28335　board　are　conducted.　The　results　confirm　that　the　proposed　controller　can　track　a　wide　range　of　target　references　with　desirable　performance　under　speed　constraint　and　load　disturbance.　©　2021　IEEE.