A brake system for a motor vehicle comprises a first brake set and second brake set. A first hydraulic brake circuit is connected to the first brake set and a second hydraulic brake circuit is connected to the second brake set. Further, a first control module is coupled to the first hydraulic brake circuit and the second hydraulic brake circuit. The first control module is configured to control fluid pressure within both the first hydraulic brake circuit and the second hydraulic brake circuit. A second control module is also coupled to the first hydraulic brake circuit and the second hydraulic brake circuit. The second control module is configured to control fluid pressure within both the first hydraulic brake circuit and the second hydraulic brake circuit independent of the first control module. The first control module is disposed in series with the second control module in the first and the second hydraulic brake circuits. Additionally, a virtual driver sends a deceleration request to the first control module and the second control module. The first control module and the second control module determine a desired pressure based upon the deceleration request. The first brake control module controls fluid pressure within both the first and the second hydraulic brake circuits to perform the deceleration request. The second control module monitors pressure downstream from the first control module and compares the monitored pressure to the desired pressure.