This example describes how to develop speed and position control systems for a DC motor with a load. Various methods are used and the focus is on how to model and implement the various parts and not of parameter tuning. An important thing to note is that a good controller is not just a text book implementation but requires a number of additional parts to work properly. It is a good idea to go through this text together with the models and some control design literature that gives more details about the theory. Please see the references chapter for some suitable books.