This paper presents a two degree-of-freedom control method for achieving constant continuous positive airway pressure (CPAP) of an obstructive sleep apnea (OSA) treatment system. After constructing a closed-loop DC brushless motor drive together with a blower and an airway module, we develop a pressure control system for achieving CPAP control. A mathematical model of the overall open-loop system is established based on the input-output data and its system parameters are sequentially determined using the recursive least-squares (RLS) method. A two degree-of-freedom (DOF) controller, including a feedforward controller and a feedback proportional-integral controller, is proposed to maintain and follow the desired pressure setpoints. Through experimental results, the proposed control method is shown useful and effective in achieving airway pressure tracking and regulation.