Abstract
It is important to model friction forces between tire and load, and friction coefficients of brake materials when designing brake control systems, because there are uncertainties of the model which result from nonlinear characteristics of oil hydraulic or brake fluid pressure. This study presents the state equation to design a new estimation system using modern control theory. The authors performed simulations for the proposed discrete-time observer. The simulation results proved the effectiveness of the proposed observer under nonlinear characteristics of brake dynamics.
