A speed controller with proportional-integral (PI)-plus bang bang action is proposed for dc servomotors with transistorized pulse width modulated drives. The controller employs the PI-action when the magnitude of the error between the reference signal and the speed output signal is smaller than some prescribed value. Otherwise, the controller produces the maximum allowable control signal with the integrator reset. The servo motor system with the proposed speed controller is analyzed in both continuous and discrete time domain and then a method for controller parameter design is provided. To show that the performance of the controller with PI-plus bang bang action is improved compared to that of conventional PI-action controllers, some experimental results of a design example are illustrated.