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In dual closed loop direct current governor system, startup current is usually much larger than rated current so that current restricting problem must be considered during startup stage of direct current motor. In this paper, a dual closed loop robust control scheme is presented for a direct current governor system with input constraints by using robust right coprime factorization approach. PI regulator is designed for inner current loop and robust right coprime factorization with input constraints is employed for outer speed loop. Meanwhile, speed tracking control problem is also considered. Finally, simulation result is given to show the effectiveness of the proposed approach.