Abstract: A fifth-order model for I-EHB (integrated electro-hydraulic brake) system was derived from its mechanical and hydraulic subsystems. The model was linearized at equilibrium states, and then the transfer functions of the I-EHB system were obtained and verified by AMESim software. A cascade controller composed with position and pressure control was designed based on PID control. The control process was arranged that, while the position of the piston was in the deadzone of servo master cylinder, the piston was controlled to move to cover the pressure compensated orifice with position feedback, once the piston was beyond the deadzone, the cascaded controller could be switched into pressure control. Results with the cascade controller show that, the response time of the pressure in the servo master cylinder is less than 80 ms and the overshoot is within 6%, which helps improving the braking safety and comfort.