This paper presents an inversion-based approach to the design of a dc motor-position servo system. Specifically, using the recently developed transition polynomials, a dynamic inversion procedure is established to determine a feedforward command signal to achieve high-performance position transfers. It is shown how to improve a traditional proportional and derivative controller feedback scheme and how a coordinated feedforward/feedback design using the new approach further improves the servo performances. Moreover, the methodology can easily comply with a voltage saturation avoidance constraint. Experimental results on a standard test bench highlight the effectiveness of the dynamic inversion idea.