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The paper presents the optimal tuning of the modified PID controller gains for high performance permanent magnet PMDC industrial motor drives based on particle swarm optimization PSO. The modified PID controller implements another control parameter of the integral of the total error square. This will smooth the starting torque; enhance acceleration and dynamic tracking of the reference speed. The proposed dynamic tri-loop controller utilizes the motor speed error (eomega), the armature current deviation (eI) from its maximum or ldquospecifiedrdquo allowable current level, dynamic current ripple error (eR), and the total error square as inputs to the PSO search algorithm. The proposed tuned modified PID controller is based on the minimization of the total system error. The control voltage signal is used to regulate the firing delay angle alpha of the 3-phase controlled rectifier bridge.