This work has two main objectives: the first one is identify the model of DC motors - using various techniques from experimental data; Secondly, we want to design appropriate control structures for this system, so as to meet the specifications requested. The second chapter describes the equipment with which we work throughout the project, consisting of two rotary brushed DC motors provided by the company Ingenia Motion Control. The third chapter describes various techniques of system identification that are used to characterize the motor dynamics, and applied to the motors provided by the company Ingenia Motion Control. And the final chapter covers the design of controllers plants based on the specification in bandwidth, and provides detailed structures of PID control and I-PD control. This master thesis has been developed in the Institut de Robòtica i Informàtica Industrial (IRI) and in the company Ingenia Motion Control in the Firmware Division with the supervision of Vicenç Puig as director and Roger Juanpere and Rob Verhaart as advisers from the company.