In this paper a control system which achieves ideal brake force distribution between the front and the rear wheels of a vehicle during normal braking is studied. Ideal brake proportioning is achieved by dynamically controlling the rear-wheel speed to track the front-wheel speed. Electro-hydraulic brake actuators, which are installed at the rear brakes of the vehicle, are used to modulate the brake-line pressure. A simple linear model of the actuators was developed. This model is derived from experimental response data. Based on this model, a robust servomechanism controller, which achieves ideal brake proportioning by rear-wheel speed control, is designed, implemented, and tested. Test results indicate that the robust servo-mechanism controller achieves a very good wheel speed tracking performance.

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