DC motor is a device that converts electrical energy into mechanical energy. Nowadays, Permanent Magnet DC (PMDC) motors are used in a variety of settings, including residences, commercial buildings, and the manufacturing industry. PMDC motors are currently being used in many applications ranging from everyday tasks to industrial tasks such as industrial machines, automobiles, and robotic applications. In this paper, we present the parameter estimation method of a low-cost PMDC motor using the Extended Kalman Filter (EKF). Each low-cost PMDC motor may have different dynamic and electrical properties such as back electromotive force, torque constant, rotor resistance, and friction coefficients. However, these parameters of the low-cost PMDC motor are not provided in the datasheet by its manufacturer. The main goal of this paper is to estimate the lumped parameters of PMDC motor used in differential-drive mobile robot and design controller for velocity control. SIMULINK software is used to simulate the estimation of the lumped parameters with EKF and then we implement it in real experiment estimation of the lumped parameters. The proportional-integral (PI) controller has been chosen for our feedback control system. Finally, we have found the simulation and real experimental results of three lumped parameters in a brief time. In the simulation results, the estimation values start to converge to true values in only 0.5 seconds, so the simulation and real experimental results confirm that the control is and well-perform.