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In this paper, a combined approach of a designed controller based on flatness and fuzzy logic techniques control is proposed. The basic of this control strategy consists in planning a reference trajectory using the flatness property of linear systems. The real output desired trajectory of process will be expressed by the flat output reference trajectory. After the planning phase, the tracking of the reference trajectory is ensured by a PID type fuzzy controller. Flatness and fuzzy logic lead to design a controller with high performance in terms of tracking and robustness. The rejection of a static disturbance on the output signal and the limitation of the control signal magnitude applied to the system will be improved while introducing a self-tuning controller parameters. The considered control approach is applied to a linear model of a DC motor supplied by an AC-DC power converter.