Numerous techniques for controlling Direct Current (DC) motors have been developed as technology has evolved. Overshoot percentage, torque load rejection, armature resistance variation, rise time, settling time and steady-state error are essential considerations in determining an appropriate controller for DC motor position control. Proportional, integrative, derivative control (PID) and Fuzzy logic controller provide suitable responses, however, the responses are not ideal because of relatively slow response times or when torque load is increased. Accordingly, with these drawbacks, researchers have implemented a system that merges the PID and Fuzzy logic controller: selftuning controller. This configuration establishes, as a supervisor, the Fuzzy logic controller in order to set the PID coefficients using a linguistic idea of the variables' behaviors. The purpose of this examination is to provide a comparative study between PID, Fuzzy PI and Fuzzy self-tuning PID controllers, regarding the parameters mentioned before, in order to present the advantages or disadvantages of each.