A control system for a vehicle brake comprises a compensation module that determines a compensated brake value based on a vehicle mass and at least one of a pedal force and a pedal displacement, and a brake control module that selectively adjusts a fluid pressure supplied to the vehicle brake based on the compensated brake value. The compensation module determines the compensated brake value based on a comparison of the vehicle mass and a predetermined mass value. A related method for controlling the vehicle brake based on vehicle mass is also provided.