A linearized model was derived from the system analysis of the electro-mechanical brake system, and the performance of the estimator was compared with the experimental results. The Electro-Mechanical Brake System was divided into four parts and a mathematical model was derived. Based on the derived mathematical model, the clamping force estimation of the electro-mechanical brake system was designed using MATLAB Simulink. A test bench was constructed to verify the reliability of the estimator. The test bench consisted of a caliper fixing jig, a load cell, a disc jig, a control box, and NI LabVIEW. The test was performed using the current application and the reliability was verified by comparing the experimental results with the estimated results.