This paper presents a general control module to control the speed of an electric vehicle (EV). This module consists of a microprocessor and several C-programmable micro-controllers. It uses an identification algorithm to estimate the system parameters on-line. With the estimated parameters, control gains are calculated via pole-placement. In order to compensate for the internal errors, a cross-coupling control algorithm is included. To estimate the true velocity and acceleration from measurements, a discrete-time Kalman filter was utilized. The experimental results validate the general control module for EVs.