In the scope of a research collaboration, ITT Automotive Europe and Darmstadt University of Technology are developing control strategies for a low-cost Brake-by-Wire system. However, since there is a wide range of variation in the efficiency of the gear units used in electromechanical brakes, this becomes a demanding task.The paper first describes the assembly and operation of ITT's early generation brake actuator. It introduces a model of the electromechanical brake with its structure and subsystems as a major tool in the development process. A detailed analysis of the signals, already available from the brake and the vehicle, is discussed for their advantages and disadvantages with regard to a possible use in the controller design.Different approaches for clamping-force, peripheral-force and brake-torque sensing are compared. An integrated clamping force sensor for feedback control of prototype actuators was developed. To adjust the clearance without a force sensor, a strategy to detect the contact point between the brake pads and the brake disk is introduced. The test stand used for the development and testing of the controller and the clearance management as well as the first experimental results are shown.