A brushed DC motor is an important machine and widely used in the industry and in many of today’s mechatronics systems such as mobile robots, robot arms, and other industrial applications because of its simplicity, ease of control, and reasonable cost. The position control of a DC motor is crucial for a precision control system and it is well known that the mathematical model is very crucial for a control system design. For a DC motor, there are many models and control architectures to achieve a good performance; (accuracy, and robustness according to its application). The aim of this paper is to investigate the performance comparison of a position control for a low-cost DC motor with simple position feedback and cascade control architectures. A low-cost DC motor is modeled and considered as a second-order system that involves lump parameters due to the absence of motor specification. In addition, the dynamic compensation is also included in the control model. The position control has accomplished in two types of control architecture, namely a single loop with a PD controller and a cascade control architecture composed of two loops, the velocity inner loop and the position outer loop with P controllers for both. MATLAB/Simulink model is used for modeling, simulation, and control of DC motor position, and then the control methods are deployed for real experiment assessment. Through analyzing and comparing, the result showed that both control methods achieve a good result of position reference tracking with no overshoot during a simulation time. More importantly, the cascade control methods clearly showed the improvement of achieving more accurate position control with the steady state error of two degrees compare to single loop control of 5 degrees in real hardware experiments testbed.