A method of determining the state of a pedal actuator system within a vehicle includes receiving a position sensor signal indicative of a position of an actuator pedal within the pedal actuator system, receiving a force sensor signal indicative of a compressive force applied to the actuator pedal, and determining, with a processor, a state of the actuator pedal based on the position sensor signal and the force sensor signal. The state of the actuator pedal is one of a normal operating state and a fault state.