Abstract: A brushless, self-commutating DC motor including a tachogenerator for producing speed control signals, the motor having a cup-shaped housing fixed to an output shaft and carrying a cylindrical annular permanent magnet. The motor also includes a stator assembly having six rotor drive coils paired to provide a three phase driving coil system and a tachogenerator yoke and coil assembly forming part of the stator system. The rotor magnet has two tracks of multipolarization formed of an outer track of a plurality of driving magnetic poles and an inner track of tachogenerator magnetic poles of a greater number than the driving poles.