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A wheel slip controller is developed and experimentally tested in a car equipped with electromechanical brake actuators and a brake-by-wire system. A gain scheduling approach is taken, where the vehicle speed is viewed as a slowly time-varying parameter and the model is linearized about the nominal wheel slip. Gain matrices for the different operating conditions are designed using an LQR approach. The stability and robustness of the controller are studied via Lyapunov theory, frequency analysis, and experiments using a test vehicle.
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Johansen et al. (2003) studied this question.
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