Linear and fuzzy control solutions for a laboratory Anti-lock Braking System

Three slip controllers are designed and implemented on an Anti-lock Braking System (ABS), a PI controller, one SISO fuzzy controller without dynamics and a PI-fuzzy one. The system is highly nonlinear. The design approaches are based on system modeling and identification and knowledge from experiments. The controllers are based on the local linearization of the controlled plant and the use of fuzzy control in terms of the modal equivalence principle. The simplicity of design and implementation is highlighted by real-time experiments.