Abstract: One or more magnets are mounted on the rotor of a motor/actuator and analog Hall Effect sensors are mounted on the stator of the motor actuator to provide the necessary feedback for both speed and position control of the rotor. The feedback system includes signal conditioning circuitry for conditioning the sinusoidal signal produced by the magnet and the Hall Effect sensors and a tracking converter observer algorithm executing on the system microprocessor to produce controlled motion. The controller (and other electronics) may be integrated into the housing of the motor or actuator to provide a compact, efficient system for use in a number of applications.