RESEARCH-BASED EFFECTIVENESS OF THE PEACE EDUCATION FOUNDATION MODEL

The invention is a method and apparatus wherein a disturbance acting on a tired wheel of a vehicle is estimated by a disturbance observer on the basis of the detected angular velocity of the wheel. In one form of the method, the wheel angular velocity is compensated for the disturbance, depending upon the amount of change of the wheel angular velocity caused by the disturbance. In another form of the method, the angular acceleration of the wheel as well as the disturbance is estimated by the observer, and the moment of inertia of the wheel is obtained according to a relationship between the estimated disturbance and angular acceleration of the wheel.