Hi Jin,

For the DC motor modeling it depends on how complicated you would like your model to be. From the experience I would suggest you start with simple models of motors which you can find in the first link and if you are successful with your implementation then move to more complicated models that can be found in link 2 and 3.

Hope it helps,

Afshin

http://ctms.engin.umich.edu/CTMS/index.php?example=MotorSpeed§ion=SystemModeling

http://trs-new.jpl.nasa.gov/dspace/bitstream/2014/17121/1/99-0543.pdf

http://books.google.ca/books?id=6OH0GX1oQd8C&pg=PA108&lpg=PA108&dq=bialke+reaction+wheel+model&source=bl&ots=iB2mEHhDky&sig=L5ORMBtlrQ6FAnMA5s2ssTwuY08&hl=en&sa=X&ei=E7R0VPXaA8_4yQSQ5YG4Ag&ved=0CC0Q6AEwAg#v=onepage&q=bialke%20reaction%20wheel%20model&f=false

For speed control of DC motor, you can start with a simple first order system with transfer function G(s)=K/(1+Ts), where you can obtain the dc gain (K) and the system time constant (T) from a simple real-time test. And for position control, you can add an integrator to this transfer function G2(s)=G(s)/s. Generally speaking, if you ignore the nonlinearities, dc motors behave like first order systems. There are many examples for designing fuzzy controllers. Here is an example of PID-yupe fuzzy controller we implemented on AMB system which requires much less rule-base to assign compared to common fuzzy three input fuzzy controllers.

https://www.researchgate.net/publication/265786851_PID-type_Fuzzy_Logic_Controller_for_Active_Magnetic_Bearing_System?ev=prf_pub

Conference Paper PID-type Fuzzy Logic Controller for Active Magnetic Bearing System

Hi 

Look for this paper if you have enough knowledge about fuzzy logic:

http://www.sciencedirect.com/science/article/pii/S1877705812025933

for easy way to implement and design FLC  to a DC motor I  suggest to you to check these videos:

https://www.youtube.com/watch?v=jO8-8UOxwM0

https://www.youtube.com/watch?v=zOLbFStCVfk

https://www.youtube.com/watch?v=3kIYchnffec

Best Regards