servo encoder problems

hello, i am new to arduino and i wanted to know how i could hook up a larger servo motor to the arduino. I will be using a 24v motor and a 5v optical encoder.

I. Can i use the motor shield, and how would i could i do that?

II. Or do i have to use a servo driver? if so, how would i then connect it to the arduino?

III. I was thinking about using an agron 1 driver from phelps cnc... is this a good choice? are there any more arduino compatible drivers?