Abstract-A method for speed control of Brushed DC (BDC) motors is presented. It is particularly applicable to motors with armatures of less than one cubic centimetre. Motors with very small armatures are difficult to control using the usual PulseWidth Modulation (PWM) approach, and are apt to overheat if so driven. The technique regulates speed via the back EMF but does not require current-discontinuous drive. Armature heating in small motors under PWM drive is explained and quantified. The method is verified through simulation and measurement. Control is improved and armature losses are minimised. The method can expect to find application in miniature mechatronic equipment.