A braking control system includes braking control modules configured to generate a braking torque request signal, indicative of a requested braking torque value CFr, which is variable until reaching a target value Vt, and to supply the braking torque request signal to a braking means which converts it into a braking torque with effective braking torque value CFe. The braking control modules are configured to calculate a total difference of instantaneous braking torque ΔCFt as the sum of the differences between the CFr values and the CFe values of all modules. If the calculated ΔCFt is greater than zero when Vt is reached, the braking control modules increase the braking torque until a ΔCFt subsequent to reaching Vt has a zero or negative value, or until the maximum available adhesion signal has indicated that a controlled axle has reached the maximum available adhesion.