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This paper describes the simulation and evaluation of a slip control braking system (SCBS) using a comprehensive nonlinear, four-wheel model of an automobile. The controller was formulated to maintain longitudinal slip at a desired or target value that was automatically modified to account for lateral maneuvering requirements. A method is presented for calculating the desired slip using signals from currently available sensors. The performance of the SCBS controller and its effects on the dynamics of the car under combined braking and steering were compared to that of a car equipped with a peak-seeking anti-lock brake system. It was found that the SCBS system provided a large increase in overall braking performance compared to the peak seeking system.