Existence, stability and robustness analysis of limit cycles in hybrid anti-lock braking systems

We investigate the stability and robustness properties of anti-lock braking systems (ABS) based on actuators with on/off dynamics. Namely, we propose a hybrid ABS controller which gives rise to an asymptotically stable limit cycle on the wheel slip. The proposed approach allows to derive exact information on the maximum allowable uncertainty in the measured variables which guarantee the cycle stability. Moreover, a structural stability analysis is performed with respect to different road conditions and to the actuator rate limit.