A system for boiler control is provided. The system includes supply units to provide supplies of combustion materials for combustion thereof, a vessel coupled to the supply units in which the combustion materials are combusted, a carbon monoxide (CO) sensor disposed at an outlet of the vessel to sense a quantity of exhaust CO output from the vessel as a product of combustion therein and a control unit. The control unit is coupled to the supply units and the sensor and configured to issue a main servo command and a pulse servo command to one or more of the supply units to control operations of the one or more supply units in accordance with the sensed quantity of the exhaust CO.