Antilock Brake System (ABS) controller maintains or controls the slip between tyre and road to maximize the braking torque to achieve a shorter braking distance and control of the steering wheel. This paper presents a PID slip controller performance that incorporates nonlinear passive suspension dynamics. Three scenarios were compared The first scenario is the performance of the controller in a vehicle model without any suspension dynamics, the second scenario incorporates linear passive vehicle suspension system (LPVSS) and the third scenario incorporates nonlinear passive vehicle suspension system (NLPVSS). The incorporation of the passive suspension dynamics enhanced the ABS performance. © 2011 IEEE.