Dynamic Control Applied to a Laboratory Antilock Braking System

Figure 5

(a) Controller (10), (24): upper wheel angular velocity (black) and estimation (gray) (rad/s versus s); (b) sliding–mode control: upper wheel angular velocity (black) and estimation (gray) (rad/s versus s); (c) estimation error : controller (10), (24) (black) and sliding–mode control (gray) (rad/s versus s).

(a)

(b)

(c)