Abstarct: DC motors have extensive applications in industrial and military systems. These applications are different, from exact motion and position control of robots to flow control of pump. Among DC motors, separately excited DC motor plays more useful roll due to possibility of independence control of the rotor flux and torque. Parameters variation is one of most important problems that we might encounter in motor controlling process. Applying intelligent methods such as adaptive fuzzy control¬ that improves closed loop stability and performance in the presence of parameters variation. In this thesis, we extracted dc motor mathematical model and nonlinear terms primarily; then, dynamic models of a radar antenna with wind disturbance couple and one-lixnk robot arm are extracted, separately. In continuity, the dc voltage supplies control is studied with the sinusoidal voltage rectifier and chopper fed methods. Moreover, PWM control effect on state-space equations is presented. Finally computer simulations present our proposed method performance in comparison with PD and fuzzy controllers.