Raj wrote a tutorial on how-to implement servo control on PIC16F microcontrollers. The article starts off with some servo theory, and is followed with an open source practical example.
A servo motor is a special geared DC motor equipped with an electronic circuit for controlling the direction of rotation, as well as the position, of the motor shaft. Because servo motors allows precise angular positioning of their output shaft, they are used extensively in robotics and radio-controlled cars, airplanes, and boats to control the motion of their various parts. In this lab session, we will first explore what a servo motor consists of and how it works and then illustrate how to interface it with a PIC microcontroller.