The present disclosure provides systems and methods for stiction tolerant brake force estimation. In various embodiments, a method for stiction tolerant brake force estimation may comprise receiving, by a controller, a first motor state at a first time, calculating, by the controller, a first uncompensated brake force estimate based upon the first motor state, calculating, by the controller, a first linear speed based upon the first motor state, and calculating, by the controller, a first stiction compensated brake force estimate based upon at least one of the first linear speed and the first uncompensated brake force estimate.