Hello
Anybody can tell me a simple MS-Dos softwear capable to control two Unipolar stepper motor (only speed control).
Speed control must be independent for the two motors
motors to // port interface is simple (see diagramm below)

 

you're probably best using Qbasic or GW basic. Both very easy to program with.

Aaron Cake's website is great for this...
http://www.aaroncake.net/electronics/qblpt.htm

Also worth reading the 'Robot builders bonanza' book, as this goes into all the necessary details you would need.