I still do not understand what you mean with speed and RPM being different things.
OK. At last some facts. 24 V DC and about 400 W. Accuracy needed is +/-2 RPM. I guess that this is at nominal speed, which is? Let's say 2000 RPM to have something to start with.
+/-2 RPM @ 2000 RPM translates into +/-0.1 % accuracy.
That's beyond EMF control. So you need a true speed controller and a speed measurement device (tach or encoder).
The set up would be:
A speed reference accurate to better than +/-0.1%.
A speed controller with low enough voltage and current bias and offset to maintain the accuracy.
A switching device to control the motor average EMF. This could be a single transistor, an H bridge or one or more SSR:s.
A speed measuring device that is better than your needed accuracy.
All the things above (except the power devices) can be replaced with digital signals and a micro.
All these things add up to something very similar to a standard DC mpotor speed controller.
Why not use one of them?
Gunnar Englund
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100 % recycled posting: Electrons, ideas, finger-tips have been used over and over again...