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This paper deals with the robust and parameter-dependent PID controller design problem in finite frequency domain for linear parameter varying systems. To reduce the design conservatism, three finite frequency domain performance criteria with controller design are presented in various frequency ranges. Nonlinear dynamic equations of a Wheeled Mobile Robot are described in the state-space form where the parameters are part of the state (angular velocities of the wheels). With the aid of the newly developed linearization techniques, the design methods are presented in terms of solutions to a set of linear matrix inequalities. Experimental results are presented by a comparative study with computed torque plus PD controller. The simulation results validate the validity of the controller.