The objective of the thesis is to develop a method for controlled braking of a vehicle. The brake pedal depression has been considered to be proportional to the intended deceleration. The brake controller is not aimed to replace a cruise control; it will have an anti-lock braking (ABS) function. The brake control is essentially designed to be a continuous control law with a continuous brake torque output suitable for using it on real world actuators. To develop the continuous control and taking into account the friction and elastic properties of the tyre, a quarter-car model with LuGre tyre has been derived. Considering only a quarter car keeps the model compact and by having 4 brake controllers each wheel can be controlled individually...