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Traction controls usually need dynamic parameters as an approximated reference in the model, such as inertia and friction or heavily computational estimator, such as slip ratio estimator and friction estimator. This paper is shown that the dynamic parameters in the traction controller can be negligible in some cases, internal sensor state variables and gain parameters are enough to retain some traction controllability. The controller is derived from the model following control method (MFC) on adoi:10.1088/1757-899x/707/1/012006 fatcat:r3ge6ppqofcnvnafun56fnn7fm