This work proposes a nonlinear output feedback control law for active braking control systems. The control law guarantees bounded control action and can cope also with input constraints. Moreover, the closed-loop system properties are such that the control algorithm allows to detect-without the need of a friction estimator-if the closed-loop system is operating in the unstable region of the friction curve, thereby allowing to enhance both braking performance and safety. The design is performed via Lyapunov-based methods and its effectiveness is assessed via simulations on a multibody vehicle simulator. (c) 2007 Elsevier Ltd. All rights reserved.