This is part of a series for building an encoderless mini 2-wheel robot:

1. Introduction & Problem Description
2. Model Identification and Control
3. Experimentation & Testing
4. Building a Prototype
5. Designing & building a Custom PCB

In any control systems problem, there are essentially two parts:

1. Model Identification, or designing the mathematical model and requirements of the system.
2. Model Control, or designing the required controls for the system.