Use \newline:
\documentclass{scrbook}
\begin{document}
\section
[Underactuated mechanical systems with servo constraints]
{Underactuated mechanical systems \newline with servo constraints}
\end{document}

Or you can redefine \sectionlinesformat to measure the width of the section number and use a \parbox for the section title text:
\documentclass{scrbook}
\newdimen\sectionnumberwidth
\newbox\sectionnumber
%\renewcommand\raggedsection{\raggedleft}
\makeatletter
\renewcommand\sectionlinesformat[4]{%
\sbox\sectionnumber{\hskip#2#3}%
\setlength\sectionnumberwidth{\wd\sectionnumber}%
\@hangfrom%
{\usebox\sectionnumber}%
{\parbox[t]{\dimexpr\textwidth-\sectionnumberwidth\relax}{\raggedsection #4}}%
}
\makeatother
\begin{document}
\tableofcontents
\section
[Underactuated mechanical systems with servo constraints]
{Underactuated mechanical systems \\ with servo constraints}
\end{document}
BTW: Use DIV=17 and BCOR=16mm instead of the obsolete options DIV17 and BCOR16mm.
\documentclass[
%openright,% default
listof=totoc,
bibliography=totoc,
%twoside,% default
fontsize=12pt,
english,
parskip=half,
headinclude,
footinclude=false,
headsepline,
DIV=17,% <- changed
BCOR=16mm,% <- changed
numbers=noenddot,
headlines=2.1,% <- changed
appendixprefix,
%cleardoublepage=empty% default
]
{scrbook}