Novel system identification method and multi-objective-optimal multivariable disturbance observer for electric wheelchair

► Precise MIMO dynamics of the EW is obtained using Lagrange equations of motion. ► A pre-compensator is analytically devised which considerably decouples the dynamics. ► New definition of the dynamics is proposed to obtain more accurate identification. ► A DOB is designed which reduces sensitivity to uncertainties and disturbances. ► Three fitness functions are used by NSGA-II to automatically tune DOB parameters.