A hydraulic brake control system for controlling braking action applied to a wheel, comprising: a brake control unit configured to receive a command signal, the brake control unit comprising a controller and tangible, non-transitory memory; a hydraulic actuator configured for communication with the brake control unit through a control valve and a hydraulic power source, the hydraulic actuator further configured to communicate with a position sensor and a pressure sensor; and a wheel assembly configured for downstream operation with the hydraulic actuator, the wheel assembly configured for applying a braking torque to a component of the wheel assembly as a result of hydraulic power provided from the hydraulic power source through the control valve to the hydraulic actuator; wherein the brake control unit is configured, as operating through the controller and the tangible, non-transitory memory, to operate the hydraulic brake control system in a position mode and in a pressure mode, and characterised in that the brake control unit is further configured to calculate a contact point for the brake control unit to operate in the position mode or the pressure mode, and wherein the brake control unit is further configured to calculate the contact point in relation to the hydraulic actuator, and wherein the brake control unit is further configured to calculate the contact point in relation to the hydraulic actuator operating in conjunction with the pressure sensor, and wherein the brake control unit is further configured to calculate the contact point when a pressure within the hydraulic actuator, as measured by the pressure sensor, exceeds a pre-determined set point maintained by the brake control unit, and wherein the brake control unit is further configured to: operate in the position mode if a piston position of the hydraulic actuator, as measured by the position sensor, is less than or equal to the contact point calculated by the brake control unit, or operate in the pressure mode if a piston position of the hydraulic actuator, as measured by the position sensor, is greater than the contact point calculated by the brake control unit, or transition from the position mode to the pressure mode when a piston position of the hydraulic actuator, as measured by the position sensor, is greater than the contact point calculated by the brake control unit. a brake control unit configured to receive a command signal, the brake control unit comprising a controller and tangible, non-transitory memory; a hydraulic actuator configured for communication with the brake control unit through a control valve and a hydraulic power source, the hydraulic actuator further configured to communicate with a position sensor and a pressure sensor; and a wheel assembly configured for downstream operation with the hydraulic actuator, the wheel assembly configured for applying a braking torque to a component of the wheel assembly as a result of hydraulic power provided from the hydraulic power source through the control valve to the hydraulic actuator; wherein the brake control unit is configured, as operating through the controller and the tangible, non-transitory memory, to operate the hydraulic brake control system in a position mode and in a pressure mode, and characterised in that the brake control unit is further configured to calculate a contact point for the brake control unit to operate in the position mode or the pressure mode, and wherein the brake control unit is further configured to calculate the contact point in relation to the hydraulic actuator, and wherein the brake control unit is further configured to calculate the contact point in relation to the hydraulic actuator operating in conjunction with the pressure sensor, and wherein the brake control unit is further configured to calculate the contact point when a pressure within the hydraulic actuator, as measured by the pressure sensor, exceeds a pre-determined set point maintained by the brake control unit, and wherein the brake control unit is further configured to: operate in the position mode if a piston position of the hydraulic actuator, as measured by the position sensor, is less than or equal to the contact point calculated by the brake control unit, or operate in the pressure mode if a piston position of the hydraulic actuator, as measured by the position sensor, is greater than the contact point calculated by the brake control unit, or transition from the position mode to the pressure mode when a piston position of the hydraulic actuator, as measured by the position sensor, is greater than the contact point calculated by the brake control unit.