A Modified HOSM Controller Applied to an ABS Laboratory Setup with Adaptive Parameter

Table 1

Coefficients and system variables for the ABS laboratory setup.

	Radius of the upper wheel	0.0995 m
	Radius of the lower wheel	0.0990 m
	Upper wheel inertia moment	Kg
	Lower wheel inertia moment	Kg
	Upper wheel viscous friction coefficient	Kg/s
	Lower wheel viscous friction coefficient	Kg/s
	Friction coefficient between wheels	1
	Constant	15.24
	Constant	6.21
	Constant	20.37
	Constant	0.415
	Stiffness factor	26.76
	Shape factor	1.13
	Peak value	22.98