*2.3. Basic Model of ABS Control*

The input to the ABS controller is the vehicle speed and the equivalent speeds of the individual wheels. These speeds are processed in the controller and slip is evaluated on their basis. The output of the controller are then values from −1 to 1 depending on the speed and slip. This dependence of the output values is shown in Table 1.



The basic block diagram of the ABS control model used in the CarSim program is shown in Figure 4.

**Figure 4.** Block scheme of ABS control model.
