https://9dok.org/document/zx5n12ev-theslipisdefinedasthespecificdifferenceofthespeedofrotationofthewheelandthemovingspeedofthecontactpointontheground-thisresultsintheachievementofthestabilitylimitsatthesameinstantwhileincreasingthebrakeforces-thetargetoftheslipcontrolalgorithmistoachieveequa.html