Patent US 4,338,670

An antiskid brake control system responsive to a periodically posted wheel signal operates to generate and store a modulator control signal and a transient control signal. The control system then waits until a new value of the wheel signal is posted, and then promptly generates a lead signal as a function of the new value. This lead signal is then promptly combined with the stored modulator and transient control signals to produce a composite brake control signal. In this way the time delay between the posting of a new value of the wheel signal and the generation of a new lead signal and composite signal is minimized.