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A novel optimal PID control design is proposed in this paper. The methodology of linear quadratic regulator is utilized to search the optimal parameters of the PID controller. The augmented state vector of performance measure involves output signals only. The weighting functions are determined through poles assignment. The existence criteria of the optimal PID controller are derived. The new PID tuning algorithm is applied to the speed control of BLDC motors. Computer simulations and experimental results show that the performance of the optimal PID controller is better than that of the traditional PID controller.