Four-wheel drive automobiles are popular in regions where winter road conditions are often slippery due to snow and ice. A four-wheel drive vehicle with antilock brakes uses a sensor to keep each wheel rotating to maintain traction. One system is shown in Figure E4.8. Find the closed-loop response of this system as it attempts to maintain a constant speed of the wheel. Determine the response when R(s) = A/s.

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s) Str ± s 15) → wheel speed FIGURE E4.8 Four-wheel drive auto.