For controlling the speed, use PWM.
The microcontroller will generate the PWM signal and the voltage will be 0V or 5V (depending on, if the output is high or low at that moment).
Use a MOSFET driver to drive a high voltage Power MOSFET which will drive the motor. Use a freewheel diode across the motor (it will be antiparallel to the motor).
One common (and quite cheap) high voltage Power MOSFET is the IRF840. It is rated at 500V, 8A. So, you can see if you can use it. By the way, what is the power rating of the motor?
Hope this helps.
Tahmid.