Direct Current (DC) servomotors are widely used in robot manipulator applications. Servomotors use feedback controller to control either the speed or the position or both, and the basic continuous feedback control is PID controller. This paper discusses the modeling and simulation of DC servomotor control built using MATLAB/Simulink, and the analysis of controller performance, namely a PID controller, PI controller, fuzzy-scheduled PID controler, and a fuzzy-logic-based self tuning PI controller on the system. The singleton fuzzification is used as a fuzzifier. The center average is used as a defuzzifier. Two control modes are applied in sequential to the plant: speed control, and then position control. Simulation results show that fuzzy-logic-based self tuning PI controller has the best performance compared to conventional PID controller and fuzzy-scheduled PID controler. © 2008 IEEE.