A typical ABS is composed of a central digital unit, 4 speed sensors (one for each wheel), and two or more hydraulic valves on the brake circuit. When the system senses that any of the wheels are rotating considerably slower than the others (a situation that can carry it to lock) it strikes the valves to lower/improve the pressure on the braking circuit, successfully decreasing/rising the braking drive on that wheel. This course of is repeated constantly, causing a pulsing feel by the brake pedal.
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