Abstract: An adaptive braking system for a vehicle having fluid-pressure operated brakes which includes a skid detecting circuit and a signal modifying circuit. The signal modifying circuit responds to the output of the skid detecting circuit to drive a duty cycle translator to generate a control signal which controls actuation of a modulating relay valve adapted to control fluid communication to the brake actuators. The duty cycle translator includes a pseudo-pressure-feedback control circuit which generates a signal approximating the response characteristics of the modulating relay valve and the brake actuators. The pseudo-pressure-feedback control enhances response of the system without requiring a pressure transducer to be used in the modulator or brake actuators to sense a feedback pressure.