juddering is caused by ABS but more likely, the EBD. This however wont cut in unless your foot is pressing down hard, and for a long time, which means youll be skidding. You should be able to eliminate the ABS thing as you can feel it working.
What mileage is your car on, and has it ever been used on track? I wouldnt expect your discs to be warped, but if they are, it would be worthwile investing in some better ones! Thing is if theyre warped theyd be even worse at highspeed breaking.
Id get it looked at