In this paper, an adaptive piecewise linear control scheme is proposed for improving the performance and response time of servo mechanical control systems. It is a gain stabilized control technique. No large phase lead compensations or pole zero cancellations are needed for performance improvement. Large gain is used for large tracking error to get fast response. Small gain is used between large and small tracking error for good performance. Large gain is used again for small tracking error to cope with disturbance. It gives an almost command independent response. It can speed up the rise time while keeping robustness unchanged. The proposed control scheme is applied to a servo system with large time lag and a complicated electro-hydraulic velocity/position servo system. Time responses show that the proposed method gives significant improvements for response time and performance.