Servo internal algotithm PI?

Does anybody know anything about the algorithm used internally by the servos? I seem to remembering that most hobby servos use PI control. I’m trying to figure out the best way to command them.

I don’t think they use a straigth PI - I think they at a minimum have some sort of deadbanding.

If I had to guess from my experience, I would suppose they use just P.

Joe J.