A Novel Traction Control for Electric Vehicle without Chassis Velocity

4.1 Stability analysis When is smaller than one, according to (1) and (8), it can be found that when the vehicle runs in no-slip conditions, as described as (18), Tmax will be larger than T*, and the unwanted torque will be eliminated by the limiter, which keeps the system stable and responsive to the driver's torque reference. In this case, the torque reference from the driver passes through the controller and enters the motor, which makes the whole system operate like an openloop control system.