In this study, to investigate a characteristics of slip ratio control of H.C.U for ABS, half car model tester were developed and a new H.C.U. was compactly designed comparing to the commercical H.C.U. for ABS. In half car model tester, variable inertia wheel has been used to load the car weights and braking forces according to the road surface conditions which were realized by pneumatic cylinder. And solenoid valves using P.W.M. (Pulse Width Modulation) method were installed in the new H.C.U The slip ratio characteristics of tire had been measured using half car model tester and the results were used in the control simulation for a new H.C.U.