Robinho arrived at Milan's Malpensa airport this morning and was taken to Gallarate hospital for tests.
"I am very happy," said Robinho to Sky Italia. "Milan is an excellent club."
The Italy international has been offered a loan move to Juventus but has rejected it as his wish is to have a permanent move.
The 26-year-old Robinho joined City from Real Madrid two years ago for a British record transfer fee of £32.5million, but grew unhappy at the club.
He spent the second half of last season on loan at Santos.