Abstract: A PWM DC motor control circuit having improved current sensing. A power switching device controls the DC motor in a common drain connection, whereby armature current sensing is achieved at the negative side of the power switching device. The control for the power switching device and the PWM control circuit are both referenced to the negative rail, and thus do not float or move up and down with the motor modulation. An RC combination is controllably and synchronously switched across the current sense resistor to produce a voltage Ve across the RC combination when the motor power switch is on. This RC combination provides an average voltage of Ve to the PWM control that provides a waveform that replicates very nearly the armature motor current. The DC motor control current has improved immunity to noise generated by the PWM control and other ambient noise.