Abstract: Technical solutions are described for a motor control system to control a permanent magnet DC (PMDC) machine. An example motor control system includes one or more sensors for measuring an output current of the PMDC machine. The motor control system further includes a current regulator that generates a voltage command corresponding to an input current command for generating an amount of torque using the PMDC machine. The current regulator includes a current command compensator that generates a first voltage command based on the input current command received by the current regulator. The current regulator further includes a feedback compensator that generates a second voltage command based on the output current measured by the one or more sensors. The current regulator also includes an adder configured that generates the voltage command by adding the first voltage command and the second voltage command.