Abstract: In this research, Four-Quadrant DC Motor (FQDCM) operation is managed by determining alternating referenced speed command to a DC motor with a fixed ramp. The proposed speed controller is utilized to trace the instantaneous reference speed. A Simulink Model of the system has been built to match the hardware connections for the motor and DSpace equipment which interfaces the MATLAB Simulink with the motor monitoring probes. The operator DC-motor is coupled to the FQDCM. Also, current, terminal voltage and speed-torque relation equations are modeled using MATLAB code to regulate the experimental parts and extract the instantons values to be used in the analysis to observe the motor and control it under torque-control. This study will also address the monitoring of the speed controlled as well as torque-controlled motors to monitor and analyze the motor performance under the influence of stepped changing torque.