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Yes, you're right about non-linearity with thermistors. I understood from his requirements a range of 40...100C to drive a motor the error (non-linearity) would be insignificant. Sorry to have misled anyone.
Another possible solution is LM35 instead of thermistors which is pretty good and...
I would start with the standard Wheatsone bridge circuit.
Use R2 and Rx as your 2 thermistors and experiment with values for R1 = R3.
Vg will be 0V if the thermistors have equal resistance and increase/decrease with differing thermistor resistance.
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