Energy-Efficient Slip-Based Feedback Linearization for Electric Vehicles Prototyped by a DC Motor-Powered Quarter-Car

Electric vehicles (EVs) are increasingly becoming pivotal in modern day transportation hence worth considering in research. This paper proposes an energy-efficient simplistic model of a slip-based EV braking controller prototyped using a quarter car powered by a simple DC motor. Input-Output Feedback Linearization is applied to the prototype’s state equations to linearize the non-linear system so that a linear slip-based controller can be designed. Two new linear states are formed and the third hidden state is analyzed to evaluate the stability of the system internal dynamics. Henceforth, a negative linear state gain feedback controller is designed using pole-placement to regulate slip and achieve quick braking from 25 m/s to rest only in 2.843 s. These prototype results can be considerably extrapolated to real EVs without super capacitors, offering a demonstrable energy-efficient braking approach and a mathematically simpler linear controller design to the growing industry of EVs.