have you looked at emc2? (free - opensource) There is a bit of hardware that works with +/-10v amps. (mesa, pico systems to name a few)
http://wiki.linuxcnc.org/cgi-bin/emc...orted_Hardware
http://linuxcnc.org/
Emc2 would close the PID loop within the computer. Emc then also knows the position of your axis. (feedback goes back to emc) You can download the livecd and play with emc. (it is linux - but don't be scared)
http://www.linuxcnc.org/content/view/21/4/lang,en/
Probably the least expesive solution I can think of other than finding some pixi like hardware that would turn your amps into step/dir drives. (But you would be better off not going that route in my opinion)


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