My choice would be the PWM. Especially as you can use an external interupt to sync it with the mains supply (that's if your using mains for the motors and lamps). If you're using DC to control motors and lamps there isn't any need to filter it (other than for EMC purposes) if you use PWM. You can send the PWM straight to a power switching MOSFET or transistor to drive the load directly. (Perhaps that's not the objective?)