PeterH, QuoteThere's nothing stopping you from putting a feedback loop on your motor controlWell, unfortunately what is stopping me is lack of skills in control theory: I've not done the homework, not finished a single control theory book (but have chosen what to read, it has matlab simulations to pass to hopefully couple theoretical understanding with some intuition). I'd give a try to the PID lib you kindly suggested but hardly imagine that in this concept any good result comes without sound theoretical background and gained intuition in putting them to work.
There's nothing stopping you from putting a feedback loop on your motor control
You may be surprised how easy it is once you have got your head around the basic concept.
I suspect you will find some useful stuff here... http://www.openservo.com/