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.diegojavierfares.com/mega-offer-Classic-Premier-Navy-Drapery-Fabric-by-Premier-Prints-30-Yard-Bolt-super-offer/