Method and apparatus for control and compensation of precipitating a Bremsaktuatorik a decentralized electric brake system

The invention relates to a method for braking a motor vehicle having an independent electric brake system having brake actuators which are assigned to the wheels of the motor vehicle, and generate, after a distribution of a total braking torque request M It is contemplated that the lack of the required total braking torque braking torque M The invention further relates to a corresponding device.