"Is there perhaps a book with the above information?"

I think, there are many books in Control Theory/Control Systems describing servo loops.

Examples: Classical Feedback Control (B.J. Lurie); Modern Control Systems (R. Dorf, R. Bishop).

Don`t overlook the importance to select a suitable controller/compensator for ensuring closed-loop stability with a good step response (without ringing) at the same time.

"Is there perhaps a book with the above information?"

I think, there are many books in Control Theory/Control Systems describing servo loops.

Examples: Classical Feedback Control (B.J. Lurie); Modern Control Systems (R. Dorf, R. Bishop).

Don`t overlook the importance to select a suitable controller/compensator for ensuring closed-loop stability with a good step response (without ringing) at the same time.

Comment (edit): The transfer function of a dc motor (Output rotation angle-to-input voltage) can be approximated by an I-T2 function (integrate with two first-order delay elements). Hence, compensation with a PD-T1 controller works good.