Brake system for controlling electromechanical brake and method thereof

A brake system for controlling an electro mechanical brake, the brake system comprising:

• a first electro mechanical brake configured to brake a first wheel of a vehicle;
• a second electro mechanical brake configured to brake a second wheel that is positioned on a different axis from the first wheel of the vehicle;
• and
• a processor configured to output a signal for controlling the first electro mechanical brake and the second electro mechanical brake to brake the first wheel and the second wheel, in response to reception of a signal output from a pedal sensor of a brake pedal of the vehicle,
• wherein the processor is configured to output, as a result of identifying that a first wheel speed sensor provided in the first wheel has failed, a signal for controlling the first electro mechanical brake to brake the first wheel in response to an elapse of a preset time after the reception of the signal output from the pedal sensor, so as to brake the first wheel at a time delayed by the preset time from a braking control time of the second wheel equipped with a second wheel speed sensor that operates normally.