Robust Switched Predictive Braking Control for Rollover Prevention in Wheeled Vehicles

Table 3

Nominal parameters.

Value	Cherokee	Porsche	U62T	Units
ℎ	0.375	0.010	0.200	m
𝐽𝑧	1280	1270	686	kg·m^2
𝐽𝑥	362.6	614	384	kg·m^2
𝐿𝑣	1.102	1.525	0.550	m
𝐿ℎ	1.25	0.825	1.373	m
𝑚	1224	1278	600	kg
𝑏	1.51	1.72	1.26	m