On a Class of Nonlinear Equation Solvers Based on the Residual Norm Reduction over a Sequence of Affine Subspaces

A brake control system for vehicles in which the difference in speed of rotation of a corresponding pair of wheels is detected in a prebraking mode of operation. If the difference in rotational speed exceeds a predetermined amount, the brakes on the pair of wheels are disabled. In one embodiment of the invention, the prebraking rotational speed ratio of the pair of wheels is determined by a comparator and electronic voltage control circuit, and the electrical output thereof fed to a valve control circuit for controlling the brake valves to maintain the braking rotational speed ratio of the wheels substantially equal to the prebraking rotational speed ratio. In the event the control circuits are unable to maintain the braking rotational speed ratio substantially equal to the prebraking rotational speed ratio, and such ratio exceeds a predetermined value, and a pendulum switch mechanism combined therewith indicates the beginning of a vehicle skid and spin, the brakes will be automatically disabled on both wheels. The disablement of the brakes is caused by a pair of pendulum switch mechanisms in combination with the control circuit.