In order to operate a train efficiently at high speeds regardless of the number of composed vehicles, control systems that can provide stable braking forces must be developed. In the design of brake control system, it is quite important to consider the robustness because there are model uncertainties which result from nonlinear characteristics for adhesion and friction coefficient of brake materials. In this paper, a new wheel slip prevention control using nonlinear robust control theory will be presented. Simulations for the proposed wheel slip prevention control are performed while comparing with some conventional control laws. The results of simulation prove the effectiveness of proposed control in comparison with conventional ones, and show the high brake performance under the nonlinearity of brake dynamics.

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