Gain-Scheduling and Iterative Feedback Tuning of PI Controllers for Longitudinal Slip Control

The paper suggests PI controllers for longitudinal slip control in the framework of a laboratory anti-lock braking system (ABS). The new design methods make use of gain-scheduling and iterative feedback tuning. They prove to be relatively simple and transparent thus ensuring low-cost automation solutions. The digital implementation of the controllers is done for the laboratory ABS. Real-time experimental results validate the theoretical approaches.