<div class="section abstract"><div class="htmlview paragraph">This paper presents a new method for finding slip control law of Anti-lock Braking System (ABS), based on sliding mode control method . A four wheel car model with seven degrees of freedom is considered. Slip of each wheel is controlled separately so that it remains in the desired range for every kind of road condition, and by tuning desired slip undesired yaw on miu-split surfaces is prevented.</div></div>