A braking assembly (102) and method for use with a brake by wire system provides braking forces to first and second wheels (104, 106) as a function of first and second electrical brake signals. A first hydraulic brake assembly (108) coupled to the first wheel (104) applies a first braking force to the first wheel (104). A second hydraulic brake assembly (110) coupled to the second wheel (106) applies a second braking force to the second wheel (106). A first pressure sensor (112) senses a pressure of the first hydraulic brake assembly (108) and responsively produces a first pressure signal. A second pressure sensor (114) senses a pressure of the second hydraulic brake assembly (110) and responsively produces a second pressure signal. A controller (116) receives a desired brake actuation signal and responsively determines the first and second electrical brake signals. The controller also receives the first and second pressure signals, responsively detects a non-linear condition of the braking assembly (102) and responsively modifies at least one of the first and second electrical brake signals in response to detecting the non-linear condition.