Neil, with all due respect my point is that a GOOD driver i.e. racing driver, can stop a car significantly quicker without ABS because they can take the braking right upto the limits of tyre adhesion and beyond the point where the ABS would normally cut in. Obviously i'm only talking about the context of running on a track, but nevertheless it is the case. If your car is only braking for 50% of the time how on earth can it slow the car more quickly than if the car is braking 100% of the time. And the whole point of ABS is that it is ANTI Lock Braking system i.e. it is supposed to prevent the brakes from locking. By leaving a wheel or wheels to actually lock up, even for an instant, defeats the object of the system. Once the wheel locks up you've lost grip and it takes precious parts of a second to release the brake, wait while the wheel accellarates back upto road speed again then re-apply the brake. And because the system has to guess when a wheel is about to lock up then by definition the system is going to activiate the system prior to the wheel actually loosing grip. A good racing driver can feel the limits of tyre adhesion and take the braking right upto that point and make small adjustments to the pressure on the pedal to keep the braking level on the limit. The ABS system cannot feel where this limit is and uses the assumptions and calculations programmed into it.
Also it was certainly the case with early ABS systems that if one wheel lost grip the ABS was also applied to the other three wheels, therefore not only are you getting reduced braking on the wheel that lost grip, you are getting reduced braking on the three wheels that have grip. Anywhat this is all purely academic because with power assisted brakes it's very difficult to get the level of feedback you need which is why racing cars tend to have no power assistance so as you have pointed out for us mere mortals in our cars with relatively soft suspension, rubber bushes and power assisted brakes are probably not as capable of out-braking the ABS system consistantly.