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Example of a wheel-slip control mechanism based on the relationship

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Electronic Braking Systems Expected to Gain Traction

Jong KIM, Professor (Full), PhD

How Modern Traction and Stability Control Makes You Faster

Advantages and Disadvantages of Anti-Lock Brakes - CarsDirect

Traction control based on wheel slip tracking of a quarter-vehicle model with high-gain observers

Train Wheel Science Scientific American

Wheel slip control for all-wheel drive electric vehicle with compensation of road disturbances - ScienceDirect

Contact footprint between the rail and the wheel.

Full article: Piecewise integral-proportional wheel slip control for an in- wheel motor driven vehicle