Dynamic Control Applied to a Laboratory Antilock Braking System

Table 1

Coefficients and system variables, for the ABS Laboratory setup.

	Angular velocity of the upper wheel	rad/s
	Angular velocity of the lower wheel	rad/s
	Braking torque	N m
	Radius of the upper wheel	0.0995 m
	Radius of the lower wheel	0.0990 m
	Upper wheel inertia moment	7.54 × 10^−3 Kg m^2
	Lower wheel inertia moment	25.6 × 10^−3 Kg m^2
	Upper wheel viscous friction coefficient	118.74 × 10^−6 Kg m^2/s
	Lower wheel viscous friction coefficient	214.68 × 10^−6 Kg m^2/s
	Friction coefficient between wheels	1
	Static friction of the upper wheel	0.0032 N m
	Static friction of the lower wheel	0.0925 N m
	Constant	15.24
	Constant	−6.21
	Constant	20.37 s^−1
	Constant	0.415
	Control input
	Peak value	23
	Shape factor	1.68
	Stiffness factor	28
	Observer gain	21
	Observer gain	140
	Observer gain	40
	Controller gain	19
	Controller gain	32