  Robots are used increasingly often in safety-critical scenarios, such as
robotic surgery or human-robot interaction. To ensure stringent performance
criteria, formal controller synthesis is a promising direction to guarantee
that robots behave as desired. However, formally ensured properties only
transfer to the real robot when the model is appropriate. We address this
problem by combining the identification of a reachset-conformant model with
controller synthesis. Since the reachset-conformant model contains all the
measured behaviors of the real robot, the safety properties of the model
transfer to the real robot. The transferability is demonstrated by experiments
on a real robot, for which we synthesize tracking controllers.
