A braking system includes brake rotors, wheel speed sensors, and an electronic control unit. The brake rotors are couplable to wheels. The brake rotors have rotor thickness variations that cause a vibration while braking. The wheel speed sensors are couplable to the wheels and configured to generate rotation signals for the wheels. The electronic control unit coupled to the wheel speed sensors and configured to generate an absolute phase offset signal that conveys an absolute phase offset angle between the rotor thickness variations in response to the rotation signals, generate a brake torque adjustment signal in response to the absolute phase offset signal and the rotation signals, and adjust a first braking control signal for a first brake rotor relative to a second braking control signal for a second brake rotor based on the brake torque adjustment signal to minimize an amplitude of the vibration during a braking event.