In this paper. a slip ratio controller based on model predictive control (MPC) considering road roughness is proposed for electric vehicle (EV) to improve the driving/braking performance under low adhesion coefficient road. A half vehicle dynamic model is derived in which pitching. wheel rolling. https://www.bekindtopets.com/quick-find-Mustard-Printed-And-Embroiderd-Insta-Saree-Dress-top-buy/