This paper includes a brief study of a BLDC motor considering it an important actuator in new autonomous applications. It can be a sample in treating such actuators from a low level till reaching a controlled closed-loop system. The BLDC motor with the presence of ESC (Electronic Speed Controller) is modeled as a DC motor. Experimental results with gray-box identification techniques were used to validate this assumption. Robust controller is implemented and compared with the conventional PI controller. To improve the controlled system loop an observer is designed and implemented in real-time. It works on the fusion of multiple sensors available on the platform. The targeted actuator is identified and controlled as a part of controlling and developing remote-control (RC) vehicles found in GiPSA-LAB. The main contribution of this paper is to propose a strategy that helps treat the BLDC motors used in scaled autonomous vehicles and pave the way for designing vehicle longitudinal controllers.