How to redesign a control of typing machine working with for cylinders and each controlled by a DC_AC drive motor from open to closed loop ?

As said in question the typing machine is working open loop and a close loop design is required. Assuming this close loop design requirement is to increase speed of response.

In simple way PI , PD can be tried/used to redesign the system with close loop with fast response

PI Controller : Simplest way could be to add a simple gain in forward path with unit negative feedback. This negative feedback with just gain will move roots of system and if systems TF is known and system root locus passes through desired pole location then finding required gain to move pole to that particular position will get the job done

PD Controller : If root locus of system doesn't pass through desired pole location then a lead compensator in forward path along with unit negative feedback can be used then the resulting root locus can be adjusted to pass through desired pole location after which simple gain adjustment in forward path can be used to move pole to desired location