App Note AN016, Incremental PID Controller for a Brushed DC Motor, has been newly issued. The work of Daniel Kalný, this paper describes how to control speed of a brushed DC motor equipped with an optical encoder using a PID controller in a closed loop system. The theory of regulation is well described in literature. Here we demonstrate suitability of GA144 chip for such a task in a practical application. The text also gives different examples of programming techniques and problem solutions such as double-precision and fractional arithmetic, custom Ganglion messaging and digital signal filtering.