DC motor current control

I need a cheap DC motor (anywhere between 0-60 rpm) that is capable of controlling various attachable loads, between 0lbs-2lbs, in the form of washers and other ‘screw on’ loads. System requires torque control of a DC motor 0-12V Requirements: 1. Matlab Simulink model that represents the 2nd order system, PID 2. Circuit diagram that should be the simplest, and using the cheapest parts, using solid state devices, and op amps as a compensator, preferably in Multisim 3. A Bill of Materials (BOM) 4. Presentation on the build, and how to use it. Given the operating range and parameters (proof of concept). I need to know how to put it together and use it. I know what I want to use project for but not sure if I'm using all the right terminology. I want to be able to adjust the model as needed, loads will change.