This paper proposes a two-loop position/speed control system for linear DC motors. The control system is based on the parameterization of lead compensator using the genetic algorithm (GA) optimization method. A performance criterion including the information of overshoot, rise time, settling time, and steady-state error is proposed as the objective function. The linear DC motor is modeled using Simscape toolbox in MATLAB/Simulink platform. The simulation shows that the results successfully demonstrate the effectiveness and good dynamic performance of the proposed two-loop control system under specific constraints and various test conditions. In addition, the results show that the adopted method can perform an efficient search for the optimal parameters of the used controller.