%0 Book Section
%A Borrelli, Francesco
%A Bemporad, Alberto
%A Fodor, Michael
%A Hrovat, Davor
%B Hybrid Systems: Computation and Control
%D 2001
%E Di Benedetto, Maria
%E Sangiovanni-Vincentelli, Alberto
%F eprints:519
%I Springer-Verlag
%P 162-174
%S Lecture Notes in Computer Science
%T A hybrid approach to traction control
%U http://eprints.imtlucca.it/519/
%V 2034
%X In this paper we describe a hybrid model and an optimization-based control strategy for solving a traction control prob- lem currently under investigation at Ford Research Laboratories. We show through simulations on a model and a realistic set of parameters that good and robust performance is achieved. Furthermore, the result- ing optimal controller is a piecewise linear function of the measurements that can be implemented on low cost control hardware.