The following doc's have some info/examples of DC servos:
Datasheets for the INA103, OP176
There a more than a couple configurations available for this, search the app notes and datasheets at Analog Devices, Linear Technology and TI/BB and you'll find some info. I also recall there being examples in Walt Jungs Opamp book, out of print but I have seen copys used online.
To get a feel for how they work you can use a spice simulator. If you don't have one Linear Technologies has a free one availble (LTspice). Implementing them is more complicated than simply simulating them but you can get an idea of how different time constants in the servo loop respond and look at freq domain plots and play with inv and non-inv configurations etc...
Have fun,
Brian Allen