Positive torque feedback was suggested to eliminate the influence of load variation in servomechanisms, while the requirements imposed on a torque transducer were severe, and the theoretical explanation for this method was not complete as yet. In this paper, the author has introduced the computed torque feedback method, in which the motor torque is computed from both manipulated variable and output speed without using a torque transducer. The servomechanism applying this method is analyzed by the phase plane technique, and it is shown that the servomechanism with torque or computed torque feedback resembles the relay servo with nonlihear velocity feedback. The system can be designed to have the characteristics of an optimum nonlinear control for a fixed load, but the response becomes oscillatory overdamped or as the load inertia increases or decreases. Computed torque feedback is applied to direct current servomechanism, and the satisfactory experimental results are obtained.