This work employs a 2DOF (2 Degrees of Freedom) PID (Proportional Integral Derivative) controller to control the angular position of the rotational load of a rotary torsion plant. Such a plant consist of a DC servomotor with gear train mounted on a cubic solid aluminium frame, whose horizontal shaft is able to rotate a flexible coupling attached to a rotational load. The performance of the 2DOF PID control system is compared with the performance of a PID control system. Experimental results demonstrate that the former control system performs better because the controlled angular position of the rotary load shows no overshoot as well as a smaller settling time.