In this paper, a novel method for the digital two-Degrees-Of-Freedom (2DOF) controller design, calledcanonical RST structure, is proposed and successfully implemented based on a Multi-Objective Particle SwarmOptimization (MOPSO) approach. This is a polynomial control structure allowing independently the regulationand the tracking of discrete-time systems. An application to the variable speed control of an electrical DC Driveis investigated. The RST design and tuning problem is formulated as a multi-objective optimization problem. The proposed MOPSO algorithm which is based on the Pareto dominance is used to identify the non-dominatedsolutions. This approach used the leader selection strategy that is called a geographically-based system. In addition,the adaptive grid method is used to produce well-distributed Pareto fronts in the multi-objective formalism. Thewell known NSGA-II and the proposed MOPSO algorithms are evaluated and compared with each other in termsof several performance metrics in order to show the superiority and the effectiveness of the proposed method. Simulation results demonstrate the advantages of the MOPSO-tuned RST control structure in terms of performanceand robustness.