eng Science and Education Publishing American Journal of Mechanical Engineering 2328-4110 2016-12-17 4 7 380 384 10.12691/ajme-4-7-27 AJME20164727 article Ľubica Miková lubica.mikova@tuke.sk 1 Ivan Virgala 1 Michal Kelemen 1 Department of Applied Mechanics and Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia The paper deals with design of control for DC motor and analysis with focus on speed control. Firstly, mathematical model of DC motor was created. For controller design two methods are used, namely frequency shaping method and PWM control. For creating and simulating the mathematical model Matlab program with Simulink extension was used. Both approaches are simulated and compared to each other. The contribution of paper brings information about advantages and disadvantages of approaches. http://pubs.sciepub.com/ajme/4/7/27/ajme-4-7-27.pdf DC motor PWM control frequency shaping method