This thesis presents position control as well as current (torque) control of a DC servo motor with a periodic input. Position control is achieved by using Fourier repetitive control scheme. Simulation on position control is carried out and results discussed. Experiment is executed based on a testing platform that is built using two, mechanically linked DC servo motors and LabVIEW to incorporate the Fourier repetitive control algorithms. The experiment results validate the feasibility of controlling motor positions via Fourier repetitive control scheme. Suggestions on improving the implementation of Fourier repetitive control theory are also made. Experiment results on current (torque) control are presented. The controlling of both position and current of the motors at the same time is also demonstrated.