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In late 1996, Daimler-Benz together with WABCO and Scania together with Bosch presented the first electronically controlled brake systems (EBS) in their towing vehicles. Since then roughly 2000 ACTROS per month have been produced with EBS. Other vehicle manufacturers will introduce EBS in the near future [5]. The technical advantages of EBS combined with the increased application of disc brakes, are: improved safety through shortened stopping distance better vehicle stability and brake comfort optimized brake monitoring and higher profitability However, with this first step the technical possibilities are limited to towing vehicles combined with conventionally braked trailers. The overall braking performance of the combination unit can be further improved when the trailers are equipped with an electronically controlled brake system.