Abstarct: In this thesis first dc motor parameters have been modeled and estimated then their results compared with real data which obtained from motor encoder. Furthermore, a fractional and an integer order phase-lead compensators applied to the fractional order model to achieve the desired control objectives. Finally, the performance of two compensators, will compare with each other. Results will show that there is no significant difference between fractional and integer model. on the other hand, simulation results will prove that fractional order lead compensator ensures minimum variation around the specified value of the phase margin as compared to its integer-order counterpart. The phase curve of the fractional-order lead compensator is flatter than integer order match. This phase variation is very small if the plant has fractional-order dynamics. The performance of fractional-order lead compensator is more robust than integer-order one, and also improves the stability.