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Sliding Mode Controller of Automatic Braking System

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Figure

Figure  2  shows  free  body  diagram  of  a  pedal  linkage  normally  used  in  a  vehicle  (Aparow,  Ahmad, Hassan & Hudha, 2012)
Figure 3 shows the vacuum booster construction with the addition of pushrod and power piston  (Gerdes & Hedrick, 1997)
Figure 3. Vacuum booster operation
Figure 4 shows a completed mathematical modeling of the automatic braking system. The system  is  simulated  within  MATLAB/SIMULINK  while  Table  1  lists  the  parameters  for  the  brake  system
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