This paper aimed to establish a methodology for developing a fractional order proportional-integral-derivative controller using Caputo's definition to solve for fractional derivatives. For that, this study used Laplace transform, which made it possible to obtain the representation of the passive elements in the frequency domain. After that, some valid fractional exponents estimate the new controller parameters. These fractional components make the controller more flexible because it adds two degrees of freedom to the system without affecting the behavior of the passive elements. However, adding these new fractional exponents necessitates solving a more complex system. To check the efficiency, this study applied a new controller to a brushless DC motor with pulse modulus width input and RPM output. It compares the new controller with the traditional integral proportional derivative controller.