Majlesi Journal of Electrical Engineering Modelling and Control of Four-Wheel Anti-lock Braking System Volume 6 (2012) Issue 2, June 2012 2024 02 25 Modelling and Control of Four-Wheel Anti-lock Braking System EN Javad Mashayekhifard Department of Electrical Engineering, Sabzevar Branch, Islamic Azad University, Sabzevar, Iran M.A. Nekoui Department of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran A. Khaki Sedigh Department of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran Journal Article 2024 02 25 Minimal stopping distance, guaranteed steering ability and stability are the three most important purposes in Anti-lock Braking System (ABS) realm. The ABS system is a nonlinear, time variant and multivariable system with some uncertainties. Some research work has been carried out on ABS control systems using intricate methods which are expensive to implement. In this paper at the first step the system interference is decreased via decoupling matrix and the ABS is controlled with a robust diagonal controller. In fact, a decentralized control technique is used for our ABS control mechanism. At the second step we exploit a multivariable technique in linear control to attack the problem. This is the Designed Linear Control with Multivariable Technique. The Optimal Eigenstructure Assignment with Genetic Algorithm (GA) method is also applied. Simulation and comparison studies are used to show the effectiveness of the proposed methods.