A method for controlling brakes, comprising: detecting, by an anti-skid controller/deceleration controller (ASK/DK) (112; 312), an imminent skid; and characterised by outputting, by the ASK/DK (112; 312), at least one of: a negative desired pressure command to a pressure control unit in response to detecting the imminent skid and causing a current command output from the PK to be reduced to release braking pressure if the negative desired pressure command minus a measured feedback pressure is greater than a deadband of the PK, wherein causing the current command output from the PK to be reduced to release braking pressure occurs with an undetected pressure sensor failure at a constant pressure value that is at least one of at or below the deadband of the PK; or a negative desired force command to a force control unit (ForK) in response to detecting the imminent skid and causing a current command output from the ForK to be reduced to release braking force if the negative desired force command minus a measured feedback force is greater than a deadband of the ForK, wherein causing the current command output from the ForK to be reduced to release braking force occurs with an undetected force sensor failure at a constant force value that is at least one of at or below the deadband of the ForK. detecting, by an anti-skid controller/deceleration controller (ASK/DK) (112; 312), an imminent skid; and characterised by outputting, by the ASK/DK (112; 312), at least one of: a negative desired pressure command to a pressure control unit in response to detecting the imminent skid and causing a current command output from the PK to be reduced to release braking pressure if the negative desired pressure command minus a measured feedback pressure is greater than a deadband of the PK, wherein causing the current command output from the PK to be reduced to release braking pressure occurs with an undetected pressure sensor failure at a constant pressure value that is at least one of at or below the deadband of the PK; or a negative desired force command to a force control unit (ForK) in response to detecting the imminent skid and causing a current command output from the ForK to be reduced to release braking force if the negative desired force command minus a measured feedback force is greater than a deadband of the ForK, wherein causing the current command output from the ForK to be reduced to release braking force occurs with an undetected force sensor failure at a constant force value that is at least one of at or below the deadband of the ForK. a negative desired pressure command to a pressure control unit in response to detecting the imminent skid and causing a current command output from the PK to be reduced to release braking pressure if the negative desired pressure command minus a measured feedback pressure is greater than a deadband of the PK, wherein causing the current command output from the PK to be reduced to release braking pressure occurs with an undetected pressure sensor failure at a constant pressure value that is at least one of at or below the deadband of the PK; or a negative desired force command to a force control unit (ForK) in response to detecting the imminent skid and causing a current command output from the ForK to be reduced to release braking force if the negative desired force command minus a measured feedback force is greater than a deadband of the ForK, wherein causing the current command output from the ForK to be reduced to release braking force occurs with an undetected force sensor failure at a constant force value that is at least one of at or below the deadband of the ForK.