Well we are lifting a rectangular shape that weighs 13 kg to a distance of 4 ft and then lowering it also. The motors will be on top of a "roof" with belts connecting to the shaft of the motor all the way down to the shape. Speed control is not important as much as us just controlling the basic things like direction and it actually working 
Also, do you think your reversibile motor will be good for this application? and how many would we need for it to lift. Thank you paul for your response