This paper presents the experimental implementation of a controller for the rotor position of a separately-excited DC Motor. The control law was designed by using a dynamic model for the motor and a dynamic model for the load torque. The torque model was proposed in order to improve the performance of the closed loop system. Discrete state feedback, discrete integrator and a discrete state observer are implemented and calculated by employing a real time control tool that works under a Linux operating system. Custom-made digital, analog and power electronics designs are the fundamental components of the closed loop implementation.