Characteristics of a DC motor control system
The system you are driving with a motor has no effect on transfer characteristics of the motor itself. But it will have an overall effect on the entire group: motor + system. Therefore a cascaded control loop is to be used, where the inner loop is the standard motor controller. 

This motor controller can be further split into a two cascaded loops : velocity (voltage) and current (torque). Also a third outer loop is possible, position loop. It all matters what exactly you want to control, what physical value is the input of your system,...etc.