How do you tell Windows to run a command on each system startup?

I have a large number of servers on which I will need to run a command on system startup that makes a non-persistent configuration change.

I can run the command either:

* as an executable with multiple parameters
* as a batch file that calls above executable with appropriate parameters

How do I instruct Windows to run my command on every boot, without any sort of login? 

*related: <https://stackoverflow.com/q/5899978/93180>*