Robust Switched Predictive Braking Control for Rollover Prevention in Wheeled Vehicles

Table 1

2000 Cherokee nominal parameters.

𝑐	4000 N·m·s/rad
𝑐𝑣	90240 N/rad
𝑐ℎ	180000 N/rad
ℎ	0.375 m
𝐽𝑧	1280 kg·m^2
𝐽𝑥	362.6 kg·m^2
𝑘	36075 n·m/rad
𝐿𝑣	1.102 m
𝐿ℎ	1.25 m
𝑚	1224 kg
𝑏	1.51 m