A method for controlling a braking force of a
brake system of a vehicle by means of a control device is provided. The method comprises the following steps: if there is a
positive control difference between a braking force
setpoint value (Bremskraft_Set) and a braking force actual value (Bremskraft_Ist): determining a first torque
setpoint value (Drehmoment_Set 1); inputting the torque
setpoint value as a manipulated variable (Drehmoment_Set) into a controlled
system (14) of the
brake system; and adjusting the braking force on the basis of the input manipulated variable (Drehmoment_Set); if there is a
negative control difference between the braking force setpoint value and the braking force actual value after a preceding
positive control difference: determining a second torque setpoint value (Drehmoment_Set 2) from the control difference; calculating a compensated manipulated variable (Drehmoment_Set) by subtracting a
hysteresis value (Drehmoment_Hyst) from the second torque setpoint value (Drehmoment_Set 2); inputting the compensated manipulated variable (Drehmoment_Set) as the manipulated variable into the controlled system (14) of the
brake system; and adjusting the braking force on the basis of the input compensated manipulated variable (Drehmoment_Set).