The evolution of Motion Control Systems (MCS) challenges its maintenance, understanding, variability and automation. Concerning this, it's imperative to complement a Motion Control System's development with an abstract perspective, through paradigms, tools and programming languages. As one of the most well-know emerging paradigms advocates, Model-Driven Software Development (MDSD), modeling complex systems usually requires several different Domain-Specific Languages (DSL), resulting in diverse Domain-Specific Models (DSM), increasing the development cost and ensuing ambiguous models. This thesis presents an approach to the modeling of a Motion Control System, through semantic technologies, and its integration with a semantically-enriched DSL (SEDSL), concerning the customization and automation for system's implementation with generative code generation. To this end, this dissertation introduces a new Domain Ontology for Motion Control Systems, which will be integrated with the SEDSL to allow the modeling of a Motion Control System. We demonstrate the feasibility of our approach providing our Domain Ontology and the Motion Control System's model as a case of study for the SEDSL's validation.