Abstract: To improve the slip ratio control precision, a slip rate control strategy for electro-hydraulic compound ABS was proposed based on Taylor series feedforward hysteresis compensation. The slip rate and the integral of slip rate were selected as control goal, and the slip rate controller of ABS was designed to obtain the optimal performance of the controlled system with increased system robustness. The hysteresis compensation of electronic hydraulic brake system was estimated by Taylor series prediction method and tracking differentiator and compensated by electromagnetic braking torque. Considering the hysteresis characteristics in different kinds of adhesion road, the simulation of electro-hydraulic compound ABS slip rate control for Taylor series feedforward hysteresis compensation was conducted to compare with that of ABS slip rate control without compensation. The influence of hysteresis characteristics on braking performance and the performance of two ABS controls were analyzed. The results show that the electro-hydraulic compound ABS control based on Taylor series feedforward hysteresis compensation can effectively improve the slip ratio precision and response speed of electric vehicle ABS under different driving conditions.