The DC Servo Motor has been used as an actuator in automatic control fields because of the good response and the control easiness nevertheless it has some disadvantage such as spark at the brush. Recently, along with the fast development of semiconductor industries, the digital control scheme is increasing in comparison with analog control because of the strength against noise and the accuracy. In this paper, authors proposed a combined control algorithm, which is mixed Modified Minimum Time Position Control(MMTPC) and PI control algorithm. for minimum time position control of DC Servo Motor by the one-chip microcontroller. The proposed control algorithm showed the fast response and offset-free. The validity of the proposed method comparing with the VSS control is proved by the response experiments.