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,　with　a　comparative　study　among　the　robust　control　strategy　and　the　standard　Computed　Torque,　plus　Proportional　Derivative,　controller.　©　2011　IEEE.