A design method for type-1 servo systems having prescribed stability margins at the control input and error channels is presented. The former and latter stability margins affect the properties of sensitivity and robustness and the transient response characteristics, respectively. As a preliminary, a class of state feedback laws for regulators that possess a prescribed stability margin is parametrized by means of a generalized Riccati-type equation. This is applied to designing servo systems, which enables us to specify the stability margins at the above two portions. We can improve the output response of the system by the proposed design procedure and the effect is ascertained by an example. The integrity at the error channel is also investigated.