Abstract: The invention relates to a control device and a method for controlling at least one actuator for actuating braking means of a vehicle. A contact variable control system forms an inner control circuit, wherein the braking torque control system is arranged in a braking torque control unit embodied separately or in a separate location from the contact variable control unit and forms an outer control circuit.

Abstract: The invention relates to a control device and a method for controlling at least one actuator for actuating braking means of a vehicle. A contact variable control system forms an inner control circuit, wherein the braking torque control system is arranged in a braking torque control unit embodied separately or in a separate location from the contact variable control unit and forms an outer control circuit.

Abstract: A method for determining changes in the longitudinal-dynamic behavior is disclosed, in particular of an undercarriage, of a railway vehicle for identifying a current driving condition of the railway vehicle, wherein variables, which cannot be measured and which characterize the longitudinal-dynamic behavior, are reconstructed and evaluated via a system model of the railway vehicle by means of a cybernetic observer from a known or metrologically determined input signal and at least one measuring signal of the observed railway vehicle as an observed real reference system. The at least one measuring signal of the observed railway vehicle and a corresponding reconstructed measuring signal of the system model are compared and the deviation determined by comparison is recursively tracked with a regulator so that the determined deviation is minimized.

Abstract: A method for determining changes in the longitudinal-dynamic behavior is disclosed, in particular of an undercarriage, of a railway vehicle for identifying a current driving condition of the railway vehicle, wherein variables, which cannot be measured and which characterize the longitudinal-dynamic behavior, are reconstructed and evaluated via a system model of the railway vehicle by means of a cybernetic observer from a known or metrologically determined input signal and at least one measuring signal of the observed railway vehicle as an observed real reference system. The at least one measuring signal of the observed railway vehicle and a corresponding reconstructed measuring signal of the system model are compared and the deviation determined by comparison is recursively tracked with a regulator so that the determined deviation is minimized.