The Direct Current (DC) motors have many applications, especially in robotics and industry. The most popular control method for controlling a DC motor is Proportional-Integral-Derivative Control (PID). DC motor control simulation has good performance. However, simulation is an ideal situation and is likely to differ from hardware implementations. This study proposes hardware design and implementation of DC motor angular speed control on Arduino Uno as an embedded control system using a PID controller. Other frames are the L298 Motor Driver and the JGA 25-370 DC Motor (including the encoder sensor). Based on testing, the PID controller has been successfully implemented into the Arduino UNO and can control the angular speed of a DC motor. System performance (in the form of system response) differs based on the choice of PID value parameters (Proportional, Integral, Derivative parameters) and sampling time. A proportional controller speeds up the rise time and increases overshoot. The integral controller eliminates steady-state errors and increases overshoot. Derivative control reduces overshoot a little. The best PID parameters were KP = 0.7, KI = 0.3, and KD = 0.2 in a sampling time of 50ms, with the characteristics of the system response has no overshoot, no undershoot fast rise time, and fast, stable time. Compared to systems without PID control, systems with PID control have the advantage of being able to reach the reference value even if the reference value changes.