2 Phase Brushless DC motor control

I currently have a two phase brushless dc motor. It runs at around 28 volts and 1 amp. I also have a high fidelity optical encoder that I can use to determine angle, angular rate, and direction. My task is to control the motor speed, position, and possibly acceleration (i.e. I can command it to a certain angular position, velocity, or acceleration). I would like to be able to send these commands via simulink. What parts am I going to need to do this? I've never worked with dc motors before, but am trying to explore all of my options (from buying a whole package to maybe doing a solution with an arduino.

Thanks!!