I am attempting to model a robot and develop a PID based off of the paper at the bottom of this post before developing a physical model. However, the research paper appears to give parameters for wheel radius, a geared motor inertia and a tachometer constant but these are not included in the overall transfer function stated in the paper - unless these would be factored in by the parameters for equivalent damping / inertia?
Were I to include these parameters so to achieve a more realistic model how would that be done? The transfer function relates the speed of the robot to the voltage applied across the DC motor - so I presume this multiplied by the wheel radius can give the velocity of the wheels.
Any help/advice greatly appreciated.
Edit: Section of paper below