Both maintaining the vehicle manoeuvrability during heavy braking and maximizing the brake force can be achieved by regulating the longitudinal wheel slip around an appropriate setpoint. In this paper, a new wheel slip controller is presented and validated experimentally. The control strategy is based on both wheel slip and wheel acceleration regulation through a cascaded approach; which was proven to be globally asymptotically stable in both the stable and unstable regions of the tyre. Simulations are available to assess the robustness against actuation delays and uncertainties in the tyre-road friction. Furthermore, tests on a tyre-in-the-loop facility show that the wheel slip do converge precisely to the assigned reference.