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This paper describes an approach of how to control the wheel slip of a vehicle using brake-by-wire actuators. The advantage of brake-by-wire actuators - such as the electro-hydraulic (EHB) and the electro-mechanical brake (EMB) - is that the caliper pressure or the clamping force, respectively, are known. It will be shown by measurement results that the wheels of a research vehicle equipped with an EHB system and the new control approach can be kept at any desired wheel slip on different surfaces, i.e. ice, snow, and dry asphalt.