Now-a-days; brushless DC (BLDC) motors are becoming very popular in the field of underwater robotic propulsion systems. Since the thrusters which are being used in underwater robotic vehicles has incorporated Brushless DC motors for its propulsion system. Hence; it is very important to precise control of the speed of brushless DC motor for the underwater robotic application. It is difficult to derive the transfer function of BLDC motor because it is 3 phase non linear system. Hence; modeling and simulation of the BLDC motor is developed in Simulink environment and tested using the embedded dsPIC controller and inverter driver. It is very important to give proper sequences of commutation to run BLDC motor smoothly. © 2016 IEEE.