Digital transformation involves the use of breaking technologies that increase the knowledge of a physical system. One of these technologies is the Digital Twin, which is a realistic virtual representation that reflects the current conditions of a physical system process that allows advanced and more detailed analysis towards improving system performance and smartness. This paper uses a novel framework for developing Digital Twin applications, which is applied to the velocity and position control problem. The framework involves the steps of target system definition, system documentation, multidomain simulation, Digital Twin assembly and behavioral matching and validation and deployment. Obtained results show how Digital Twin enables new capabilities that can be explored towards smart control engineering.