Permanent magnet, so you don't have to worry about a field coil. Since your speed information is digital, why not use a microcontroller to generate pulse width modulation? Wider pulses to increase speed, narrower ones to decrease.
"control the speed of a DC motor with an SCR" ...is that even possible? Once triggered, an SCR will pass current until power is removed. SCRs are widely used in AC, not DC, circuits, especially as lamp dimmers, because the polarity reverses 50 or 60 times a second, thus interrupting current flow.
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