The main purpose of this paper is a comparative stage of the control system, to prove the best control method, the fuzzy-PID or fuzzy-PI control system (Apple to Apple) to control the speed of a DC motor. A simulation controller is needed to determine the characteristics of the plant used. The plants used are four DC motors which act as actuators in the FWMR. The model used is the transfer function model that has been discovered through the identification system process. Fuzzy-PID and fuzzy-PI control methods will be compared and selected based on the control system performance index. The results of performance control system response index values prove that the Kd parameter is also needed in reducing the overshoot value and speeding up the system response. Comparative research of the fuzzy-PI control method on DC motor rotational speed control results in 14.26% overshoot and 0.494s steady time. The fuzzy-PID control method gives 0% overshoot and 0.353s steady time. The fuzzy-PID control method is the best compared to the fuzzy-PI or PID control method on a DC motor rotational speed control system.