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The feedback realization of the continuous optimal filter is applied to familar problems of the design of servomechanisms with stochastic inputs and disturbances. This approach leads immediately to optimal feedback configurations and, interestingly, to integral plus derivative control for the wind torque disturbed antenna servo problem. As in optimal filter theory, time-varying gains are generated for the finite time or "lock on" problem. Since digital computer programs are already available for computing these gains the design of complex intercoupled servos is feasible. The application to "minimum bandwidth" servo design is indicated.