Abstract: The minimum-energy consumption control under the condition of neglecting the armature inductance has been described by many papers, in which the engineering realization of the optimization problem is very difficult. In this paper. the mathematical model of minimumenergy consumption control problem with circuit-equation are presented. For Singular solution of the 'mathematical model, an analytic- numerical method is presented, and with the introduction of an auxiliary term into the performance index the singular problem is transformed into a nonsingular optimal regulator. Then the engineering realization for the minimum-energy consumption control considering armature inductance is suggested.