الفهرس 
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Abstract
In this chapter, the performance of traction control systems and estimation strategy, presented in chapter (4) and chapter (5) respectively, was validated. The complete simulation environment was implemented in MATLAB Simulink. The simulation environment is an essence of a driver model, 4 DOF vehicle model discussed in chapter (3) and the estimation strategy proposed in chapter (5).
The traction control was validated by testing the three different types of controllers on simulation environment. Also testing the behavior of the three controllers when a sudden change in the road condition occurred. The three controllers showed successful behavior to achieve the desired wheel slip ratio.
The estimation strategy used nonlinear observer to estimate the tractive force and validated by simulating it on MATLAB Simulink.
The three types of the controllers were PID, sliding mode control and super twisting sliding mode controllers.
In the PID control, a PID controller with a nonlinear observer were tested and the controller was able to drive the vehicle at the desired slip ratio. When a sudden change occurred, the controller successfully handled the change to keep the slip ratio constant.
In the sliding mode control method, sliding mode controller with a nonlinear observer were tested and the controller was able to drive the vehicle also at the desired slip ratio. When a sudden change occurred, the controller successfully handled the change to keep the slip ratio constant.
In the super twisting control method, a super twisting sliding mode controller with the nonlinear observer were tested and the control successfully drove the system such that the desired wheel slip ratio is obtained. It shown the best performance in handling the sudden change in the road.