Two major roles of the traction control system (TCS) are to guarantee the acceleration performance and directional
stability even in extreme road conditions, under which average drivers may not control the car properly. Commercial
TCSs use experiential methods such as lookup table and gain-scheduling to achieve proper performance under various
road and vehicle conditions. This paper proposes a new slip controller which uses the brake and the throttle actuator
simultaneously. To avoid measurement problems and get a simple structure, the brake controller is designed using
Lyapunov redesign method and the throttle controller is designed using multiple sliding mode control. Through the
hybrid use of brake and throttle controllers, the vehicle is insensitive to the variation of the vehicle mass, brake gain and
road condition and can achieve required acceleration performance. Proposed method is validated with simulations based
on 15 DOF passenger car model.