This is in response to a post on another thread, but I thought others might be interested.  Really, the paper has a few nuggets of information buried in it that (IMHO) are pretty useful when a client asks about ABS.  Most of us are already aware of these things either through other literature, word-of-mouth, or empirical tests, but it is nice to have a mathematical validation to support your opinions.

Basically, the paper presents mathematical models for ABS braking.  Here is the address:

stacks.iop.org/ejp/26/1007