This paper describes a quarter-car braking test rig that includes a hardware-in-the-loop (HIL) means for emulating broader vehicle dynamic effects. The test rig utilizes actual vehicle components such as the suspension-tire assembly and braking system to accurately represent a vehicle during a braking event and a chassis dynamometer’s drum is used to simulate the longitudinal vehicle dynamics. The key problem addressed in this paper is the emulation of sprung mass motion with a commercial electromagnetic linear actuator. By accurately representing the motion, detailed effects such as load transfer that happens in a real braking process can be studied for its effect on the braking performance. The stability of the system with sprung mass emulation under different actuator control modes is analyzed. The successful and stable control scheme found is a cascaded control with a velocity tracking strategy. The workings of the test are illustrated via representative test results that include a locked-wheel braking event and a stop with an anti-lock braking system (ABS).

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