**4. Braking Systems Comparison by Simulation**

In order to verify the properties of the proposed ABS with the fuzzy controller, simulation tests were performed in the CarSim and MATLAB/Simulink programs. The simulation tests were performed on a medium-size category vehicle model with independent front and rear suspension. The vehicle had a 7-speed automatic transmission and the maximum engine torque was 534 Nm. During the simulation, the vehicle had 225/60/R18 radial tires.

The tests were performed for a given vehicle in three different combinations. A comparison was made of the vehicle's braking behavior with a conventional threshold-based ABS, with the proposed ABS with a fuzzy controller designed to slip around 0.2, and with braking without an ABS, where the wheels were locked during braking.

The tests of these systems were carried out for the following operating states:


The results of each simulation test are presented below.
