Abstract
This paper presents the design of an electro-mechanical anti-lock braking system for a small passenger vehicle. Parametric uncertainties, nonlinearities and disturbances are taken into account in the design of a robust fractional order controller (CRONE). The same control synthesis requirements are applied in the design of an H∞ controller for comparison purposes. Simulations including noised measurements and degraded road adhesion show the advantages of the CRONE controller being less sensitive to noise when compared the to the H∞ controller.
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