Advances in robotics and manufacturing processes have enabled the development of extremely small robotic devices, even as tiny as a penny. In this domain, legged microrobots (a.k.a. \textit{microbots}) offer numerous potential applications and characteristics to explore. However, controlling such small multi-legged robots presents significant challenges in achieving the desired behavior. Primarily, due to the robot's small size, it can only operate with a tiny battery, therefore, an extremely computationally efficient controller is needed. Tiny robots are also susceptible to damage and control methodologies are needed that also ensure longevity. This thesis work presents a novel approach for creating a control algorithm for a multi-legged system that dynamically identifies and operates a microbot at its resonance frequency of movement.