The DC motor is one of the simplest electrical machines used in industry since it is controlled by direct voltages and currents. These configurations have various advantages, allowing the machine to be adapted to the constraints of its specific application. The present chapter analyzes the DC motor with separate excitation without the use of a speed sensor to approximate the rotor speed. An analysis of the stability of the rotor speed estimation is performed. Enhanced control of the direct action is integrated into the adaptive observer to decrease the roundness capability of the model and simplify implementation. Design guidelines for the feedback gain and speed fractional controller whose parameters are automatically adjusted using intelligent fuzzy logic techniques are also provided to ensure system stability throughout the operating region. The results given in this study verify the validity and effectiveness of the proposed control technique. © 2022 Elsevier Inc. All rights reserved.