0/10V @ 5 mA input ,translated to 0/10V @0,2A output
Are you just looking for a 0 - 10 V, unity gain amplifier with current source capability of 200 mA?







simulate this circuit &ndash; Schematic created using CircuitLab

Figure 1. Unity gain current amplifer.

This circuit should get you on your way. You need an op-amp that can swing to negative rail.