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In this paper the classical and robust PI controller has been developed for permanent magnet DC motor control. The complex motor system contained of the tachogenerator, the linear amplifier and the permanent magnet DC motor, is nonlinear and very challenging to control, especially using classical PI controller. For purpose of the system control, it was identified first. Then the performance of designed PI controller is tested in simulation and experimental modes. In experiments the PLC-based PI controller was used. The simulation and experiment results demonstrated effectiveness of the proposed PI controller under feedback control of the complex nonlinear DC motor system under different types of internal and external disturbances.