Inertial delay control based Multiple Sliding Surface controller for anti-lock braking system with second order actuator

In this paper multiple surface sliding mode controller is designed for non-linear anti-lock braking system to control the wheel slip at a desired value. A second order actuator dynamics is considered in series with the anti-lock braking system. An inertial delay control technique is employed to estimate the lumped disturbances. The stability of overall system is proved. The performance of the proposed scheme for slip ratio tracking is demonstrated by considering different cases in MATLAB/ Simulink.