A PIC can directly interface to a Servo's input pin. You only need to write PIC code to output a 1 to 2ms pulse every 20ms. The PIC would be the 'controller'.
There are a number of code examples on the web. A good google search term is "PIC servo control".
All of the motor drive circuits are contained within the servo so there isn't any external drive requirements.
Go to the "Robot Tutorials" in the above title bar (top of this page) and type "servo" into the search box. There are a number of nice tutorials and articles about servos, how they work and how to use them.