Patent ID: 7104616

Claim:
A brake gain-based torque controller, comprising: an input for receiving a command torque indicative of a desired amount of brake torque applied to a wheel of a vehicle; an input for receiving a signal indicative of a measured amount of brake torque applied to the wheel, an output for providing a brake pressure output command to a brake actuator and a brake assembly which applies a brake pressure to the wheel based on the brake pressure output command, and an input for receiving a pressure signal which is indicative of an amount of pressure applied to the wheel by the brake assembly from a pressure sensor operatively coupled to the brake actuator and the brake assembly for measuring the amount of pressure applied to the wheel, wherein during normal braking the brake gain-based torque controller adjusts the brake pressure output command provided to the brake actuator and the brake assembly using a computed inverse brake gain based on the signal indicative of a measured amount of brake torque applied to the wheel and a measured pressure signal indicative of an amount of the brake pressure applied by the brake assembly to provide improved brake response during normal braking.