A blind rivet formed with a tubular shell, and a mandrel extending through the shell. After receiving the authorization response and when the payment amount is known, the merchant forms a transmission that has information for delivery to an issuer of the account. The optimal controller includes a discrete Kalman regulator utilizing a discrete Kalman filter, which compels the wheel velocity to quickly converge to the reference velocity, while the integrator produces appropriate antiskidding control and compensates for low frequency torque disturbances.