In this paper, a performance model approach is proposed for PEM type fuel cell (FC)-permanent magnet DC motor systems. The output characteristic of FC is modelled under given hydrogen pressure and room temperature. The model of FC involves three main regions of the FC characteristics and can be generalized for multi-dimensional FC system. The FC model is tested on an experiment set which consists of three types of permanent magnet DC motor loads powered by the FC. The two of the motors are fan loaded and the other one is used in an experimental vehicle model. Steady-state input responses of each motor are modelled. Whole system is defined in MATLAB/Simulink environment. The operating points (current and voltage) of the system for all motor loads are estimated by the general system model. According to the test results, relative errors between measured data and model predictions are about 0.01-5 % for our sample test system. As another result of this study, use of pure oxygen for the FC, gives rise to higher motor performance and starting torque than in atmospheric air fed FC. The proposed model approaches can be applied to similar systems.