1 00:00:00,000 --> 00:00:03,000 Now it's time to have some automatic control of the brake. 2 00:00:03,000 --> 00:00:11,000 We want to set the wheel slip to 0.2, but actually the only thing that we can control is the brake. 3 00:00:11,000 --> 00:00:13,000 We can't directly control the wheel slip. 4 00:00:13,000 --> 00:00:21,000 So the job is to provide the right input to the brake so that the measured wheel slip is about 0.2. 5 00:00:21,000 --> 00:00:23,000 That's lot of things going on in between. 6 00:00:23,000 --> 00:00:28,000 Think about the dynamics of the car, the surface of the road, and so on. 7 00:00:28,000 --> 00:00:31,000 Situations such as these are studied in control theory. 8 00:00:31,000 --> 00:00:35,000 How to provide the right input to get the output that you want 9 00:00:35,000 --> 00:00:38,000 and this is the approach one would typically be using. 10 00:00:38,000 --> 00:00:45,000 We found the difference of the optimum value and the actual current value to get the current error. 11 00:00:45,000 --> 00:00:51,000 This is fed into a code controller, which as the name says controls the brake. 12 00:00:51,000 --> 00:00:55,000 So what we are doing right now is more than just a simulation. 13 00:00:55,000 --> 00:01:01,000 We're simulating the brake, the dynamics of the car, the sensors but in addition to that 14 00:01:01,000 --> 00:01:04,000 we're also be going to design a controller. 15 00:01:04,000 --> 99:59:59,999 That's a piece of software or maybe hardware that's going to actually be part of that real car.