Patent ID: 8197016

Claim:
A system for controlling a braking torque applied to a wheel of a vehicle comprising: a power source; at least one brake actuator for exerting a braking force on a wheel as a result of power provided by the power source; a feedback controller having an input for receiving a brake command signal, and an output for providing a brake control signal for controlling application of a brake torque to the wheel; and a sensor for measuring an effect resulting from an amount of power supplied to the brake actuator and feeding back a signal to the controller indicative of the supplied power; wherein the controller adjusts the brake control signal using the signal fed back from the sensor to limit a degree of feedback control in response to the difference between a projected power and the supplied power exceeds a first threshold value; wherein the controller applies open loop control without the pressure feedback control in response to the difference between the projected power and the supplied power exceeds a second threshold value greater than the first threshold value.