The present disclosure in at least one embodiment provides a braking system comprising: a pedal master unit; an electric booster unit; a reaction disc that generates a pedal force when compressed by at least one of the operating rod or the motor piston; and a controller that, upon receiving a regenerative braking interruption signal during the cooperative braking of the vehicle, senses a pressure change in the master cylinder and compensates for a displacement of the motor piston by an amount corresponding to the pressure change.