A PWM signal has a frequency and a duty cycle. The frequency is related to how long the period is. The duty cycle is usually a percentage related to the percentage of the period that the signal is on. For instance, a 1kHz, 50% duty cycle, 5V peak to peak (0-5VDC) signal looks like a square wave with it being on (5V) for 0.5ms (50% * (1/1kHz)) and off (0V) for the other 0.5ms, repeat. This allows for what I think is called an apparent voltage, which is calculated by multiplying the duty cycle by the peak to peak voltage, or in this case, 2.5 V (50% * 5V). This is helpful in controlling motors, because the RPM of a motor is related to how much power you supply it. So, if you want a lower RPM, you use a PWM signal with a low duty cycle, and vice versa. I believe it's called proportional control. Arduino makes simply controllers (duemilanove and Uno) that center around PWM outputs. You'll obviously need an actuator to drive the motors, because you traditionally don't power motors from a microcontroller.