In 2022 Bosch Engineering introduced a new generation of ABS into series production: a nonlinear, model-based slip control algorithm, i.e. the Integrated Brake Slip Control (IBC). This advancement was made possible by using a six-dimensional Inertial Measurement Unit (IMU) – equipped in a growing number of new vehicles– to increase vehicle state observability and better groundspeed estimation. By applying a Kalman filter based algorithm, the “Integrated Vehicle State Estimation” (IVE) and IMU measurements are fused with wheel speed, propulsion- / brake torque, and steering angle measurements to obtain reliable estimates of the vehicle states even during dynamic driving situations. This enables precise estimation and adaptation of the wheels’ slip, crucial for the two novel model-based slip controller presented in this paper: firstly, an approach of exact linearization with model based linear gain scheduling and secondly, a nonlinear Lyapunov based integrator backstepping control algorithm. The performance of the overall control system is evaluated by comparison with Bosch’s state of the art ABS approach. Measurement results show that by introducing wheel slip control, the stopping distance can be reduced in average by around 10% on snowy surfaces and around 5% on dry asphalt. At the same time the electrical recuperation efficiency and the steerability in cornering situations are increased due to a new, model-based slip interface within the ESC system.