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In this paper, a new type of antilock brake system (ABS) algorithm is developed. A full-time feedback control algorithm differentiates the new ABS from rule-based conventional ABS algorithms. The rear wheels are controlled to create limit cycles around the peak friction slip points. From the cycling patterns of the rear wheels, the optimal slips are defined. The front wheels are controlled to track the optimal slips defined by monitoring the behaviors of the rear wheels. The new algorithm can be implemented on any production ABS hardware without any modification or extra sensors. The test results show significant performance improvement in both the stopping distance and the noise, vibration, and harshness on homogeneous surfaces, and also quick detection of surface transition. The robustness of the new ABS algorithm is proven by vehicle tests on various speeds, surfaces, and driving conditions.