The new fluidic model of the brake system provided an avenue for developing a better brake controller. Due to the nonlinearities present in the system, a nonlinear controller was employed. It takes full advantage of the dynamic equations describing the master cylinder and brake hydraulics. Simulations and experimental results were used to confirm its superiority over the previous actuation system and controller.

Although engine and brake models and appropriate controllers have been developed, the task of switching between the two still remained to be solved. A switched control was achieved based on Filippov's theory on differential inclusions. A hysteresis was employed based on analytical analysis of passenger comfort. Simulation and experimental results show that the worst passenger comfort is superior to the case when a hysteresis is not used while tracking error does not increase.