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This paper presents a new technique to control the speed of DC motor based on the Mixed H2/H∞ method. In this method, an improved particle swarm optimization (IPSO) algorithm is applied to minimize a cost function subject to mixed H2/H∞ technique. This technique can achieve robustness and good performance while the structure of the controller is simple. Particle swarm optimization is adopted to solve the optimization problem and find the optimal parameters of the controller. The uncertainty caused by the parameter changes of motor resistance, motor inductance and load are formulated as multiplicative uncertainty weights. In comparison with the robust conventional method, lower order controller will be obtained by the proposed method which retains the robust performance. Simulation results in a speed control of DC motor system show the effectiveness of the proposed technique. Results showed that the ISE was the best to use with disturbance condition to get robustness.