This paper presents the reference tracking and regulatory performance of servo motor using an internal model control technique. The linear model of the servo motor is obtained using frequency response analysis and the position control is implemented using an IMC principle. The IMC controller is designed based on the Q parameterization and the trade off between servo and disturbance rejection characteristics is experimentally validated using Hardware in loop (HIL) testing. Moreover, the performance of IMC is compared with that of the auto tuned PID controller in MATLAB. Experimental results substantiate that the tracking and regulatory performance of IMC is better than that of the PID controller. © 2019 IEEE.