In this study, it was aimed to compare PI (Proportional-Integral) and PID (Proportional-IntegralDerivative) controllers for speed control of Permanent Magnet Direct Current (PMDC) motor under both load and without load. For this purpose, firstly, the mathematical model was obtained from the dynamic equations of the PMDC motor and the obtained mathematical model was transferred to the simulation environment and modeled using Matlab/SIMULINK. Following the modeling process, PI and PID controller structures were formed, respectively. Secondly, after these structures were formed, the PMDC motor was run without any controller. Then, the control of the PMDC motor with no load was provided by using PI and PID controllers. Finally, the PMDC motor were loaded under the constant load (T-L = 3 N.m.) for each condition and selected time period (t = 3 s). The obtained result for each control operations was comparatively given by observing effects of loading process on systems. When the obtained results were evaluated for each condition, it was observed that PID controller have the best performance with respect to PI controller.