DC motors have been widely use in industry, especially in drive systems. One of the main parameters in drive system is speed. Commonly use controller for speed control is PID controller tuned according to the Ziegler Nichols method, however, it produces high percent overshoot dan control signal that cause saturation in the actuator and abrupt change in starting current of DC motor at the transient state and the DC motor will be broken. Therefore, the aim of this research is to design a method to determine the parameters of PID in order to have step response with minimum overshoot, settling time, and control signal at the transient state. In this research, the closed loop system consists of controllers and plant. The controllers are PID and I-PD controller, and the plant is a DC motor module ES151 Feedback. The closed loop system is modeled into state space form by using PID output feedback method in order to obtain the matrix of the closed loop system. Based on the results of simulations and experiments on DC motors without control or with PID control, the research value is under 5 seconds. When a DC motor without a controller has a rise time of 1 second and has not reached the expected speed of 100 rpm. While the DC motor using the controller has a 0.3 second rise time value that is faster than the DC motor without control