A motor control amplifier for position feedback control is provided utilizing the inherent inductor and/or resistor dynamics of the motor. The motor control amplifier applies a voltage to the motor equivalent to the electrical motor resistance multiplied by the current of the motor, canceling out the electrical motor resistance, and thereby providing position feedback control through motor inductance. A command term/voltage could be added to make the position feedback control relative to a setpoint. Further, a motor control amplifier for feedback control to arbitrary dynamics is provided. The motor amplifier applies a voltage proportional to a wave command signal. The motor amplifier has a sensing component to provide a wave return signal to construct a wave transformer from the electrical motor resistance.