My Model Slipway Sentinel is running on the same size motors as you are using.
I have used one of ACTions magic P94s which incorporates 2 x 10amp speed controllers as shown in link.
http://www.action-electronics.co.uk/pdfs/Slipway%20Sentinel.pdf
(http://i124.photobucket.com/albums/p8/DickyD_photos/Sentinel/DSCF0046.jpg)