Suppression of slip and reduction of friction between the rail and the wheel are important in railway systems. This paper proposes a novel slip re-adhesion control based on monitoring the excessive torque and the excessive angular momentum for four-axle and two-truck model. The effectiveness of the proposed method has been confirmed by mathematical analysis. In addition, the excessive angular momentum compensation of the proposed method was evaluated using real-world train test data. Furthermore, the proposed method can estimate the disturbance torque from real-world train test data.
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