An electro-pneumatic vehicle braking system controls braking by electronic signals transmitted from a master controller to the brakes of the vehicle controlled by axle controllers. The master controller is responsive to the actuation of a treadle by the vehicle operator to calculate the difference between...http://www.google.com/patents/US4787683?utm_source=gb-gplus-sharePatent US4787683 - Electro-pneumatic braking system with deceleration control
