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Recently, the studies about wheel slip control based on sliding mode control theory were developed and reported. The proposed controllers based on sliding mode control were effective for wheel slip control against railway vehicles. However, those were considered as continuous-time system, and not designed the discrete time system. This paper will present the experimental results about the new wheel slip control, designed by the discrete sliding mode control. The experiments for the proposed wheel slip control are performed while comparing a continuous-time system sliding mode controller. The experimental results proved the effectiveness of the proposed control as compared with a continuous-time system sliding mode, and showed the high brake performance under the nonlinear characteristics of brake dynamics.

Wheel Speed Servo Brake Based on Discrete Sliding Mode Control for Railway Vehicles