Dynamic Control Applied to a Laboratory Antilock Braking System

Figure 7

(a) Controller (10), (24): wheel slip (solid black), estimated wheel slip (solid gray), and wheel slip reference (dashed) (dimensionless versus s); (b) sliding–mode control: wheel slip (solid black), estimated wheel slip (solid gray), and wheel slip reference (dashed) (dimensionless versus s); (c) tracking error : controller (10), (24) (black) and sliding–mode control (gray) (dimensionless versus s).

(a)

(b)

(c)