A high steady-state accuracy in a feedback control system requires a large value of forward loop gain. However, when such systems are subjected to large values of step-input, the values of different state variables may be far in excess of those for which the system has been designed for normal operation. In this article a new dual-mode servo scheme has been discussed which, while responding to large step-inputs, not only keeps the state variables in safe limit but also gives reasonably fast response. As the name suggests, this system operates in two modes, viz. the relay mode and the linear mode, and even for high order systems the switch-over from one mode to another mode is carried out by a linear switching computer constituted by an adder and a relay with deadzone.