table 42 an adaptation gain block 44 a robustification deadzone block 46 and a summing block 48 the system 40 additionally may include two inputs and one output the position signal input 50 the force signal input 52 and the estimated force output 54 the estimated force output 54 may be used by the controller 24 for generating a control signal see line 34 in fig2 for controlling the brake system 10 the adaptive table 42 may receive the position signal input 50 from the position sensor 28 and may correlate the position signal using a look up table equation or the like into the estimated force output 54 the adaptive table 42 may include a discrete number of data points such that output values may be obtained by interpolating between the data points the estimated force may be communicated to the summing block 48 by line 56 and the summing block 48 may determine a difference value i e an error signal between the estimated force output 54 and the force signal input 52 for example the error signal may be generally equal to the force signal input 52 minus the estimated force output 54 the force signal input 52 may be based upon signals received.