This thesis addresses the modelling, design, controller selection and simulations of wheelchair motion control. Where wheelchair’s motion control is simplified to DC motor motion control. Therefore, DC motor is used and simulated to control the velocity of wheelchair. PID controller has been used for this purpose. The advantage of PID controller is its feasibility but PID controller needs to adjust its proportional, integral and differential gains in order to give the better result. Even though the PID gains are well designed but still it has low robust ability as compare to other techniques. To improve the response of the system by reducing overshoot, IMC-PID controller is designed. In IMC-PID controller, system becomes dependent on a single parameter unlike PID. The selection of that one single parameter is directly related to the robustness of the system. Neural Network is hybridized with IMC-PID which helps the IMC-PID controller to adjust that parameter’s value and to make the system robust, adaptive and improving the system on dynamic and steady state performance

MSEE