A system for controlling a brake actuator corresponding to a first brake, comprising: a first brake actuator configured to control pressure applied to the first brake ; a brake control unit, BCU, configured to receive a first plurality of inputs and to output a first BCU control signal for controlling the first brake actuator based on the first plurality of inputs; a first switch coupled between the first brake actuator and the BCU; and a backup controller electronically coupled to the first switch and the first brake actuator and configured to: receive a second plurality of inputs, determine a first backup control signal for controlling the first brake actuator based on the second plurality of inputs, determine that the BCU is functioning improperly based on the second plurality of inputs, and control the first switch to prevent the first BCU control signal from controlling the first brake actuator and to output the first backup control signal to the first brake actuator in response to determining that the BCU is functioning improperly; characterised in that the first brake actuator includes: a first brake valve ; a first coil coupled to the first switch and configured to control the first brake valve based on the first BCU control signal; and a second coil coupled to the backup controller and configured to control the first brake valve based on the first backup control signal; and further comprising a first diode connected in parallel with the first coil and configured to allow current to flow through the first coil until a voltage across the first coil decays in response to the first switch preventing the first BCU control signal from controlling the first brake actuator. a first brake actuator configured to control pressure applied to the first brake ; a brake control unit, BCU, configured to receive a first plurality of inputs and to output a first BCU control signal for controlling the first brake actuator based on the first plurality of inputs; a first switch coupled between the first brake actuator and the BCU; and a backup controller electronically coupled to the first switch and the first brake actuator and configured to: receive a second plurality of inputs, determine a first backup control signal for controlling the first brake actuator based on the second plurality of inputs, determine that the BCU is functioning improperly based on the second plurality of inputs, and control the first switch to prevent the first BCU control signal from controlling the first brake actuator and to output the first backup control signal to the first brake actuator in response to determining that the BCU is functioning improperly; characterised in that the first brake actuator includes: receive a second plurality of inputs, determine a first backup control signal for controlling the first brake actuator based on the second plurality of inputs, determine that the BCU is functioning improperly based on the second plurality of inputs, and control the first switch to prevent the first BCU control signal from controlling the first brake actuator and to output the first backup control signal to the first brake actuator in response to determining that the BCU is functioning improperly; characterised in that the first brake actuator includes: a first brake valve ; a first coil coupled to the first switch and configured to control the first brake valve based on the first BCU control signal; and a second coil coupled to the backup controller and configured to control the first brake valve based on the first backup control signal; and further comprising a first diode connected in parallel with the first coil and configured to allow current to flow through the first coil until a voltage across the first coil decays in response to the first switch preventing the first BCU control signal from controlling the first brake actuator. <EOS>