This paper describes the development of mathematical and physical Modeling based simulators in the    Simulink © Simscape  TM  environment as interactive tools to demonstrate the DC motor responses in terms of current, speed and torque. This type of Modeling requires to join the physical components with physical connections to define the underlying dynamic equations of the DC motor. This approach is further compared with the analytical model in Simulink. To support our proposal, numerical simulations and mathematical Modeling of the DC motor are derived using the Lagrangian and Euler-Lagrange approach contrary to the existing Kirchhoff’s’ and Newton laws.   The state space model is formulated based on Hamilton’s equation. The simulation models are developed as part of software laboratory support and to enhance undergraduate control systems and machinery courses at Olabisi Onabanjo University A proportional Derivative (PD) controller is implemented for both the models to compensate for fast response in the armature current and electromagnetic torque. A comparative study of the model for the separately excited Dc motor has shown that the models have their own merits and demerits.