With the development of vehicle electrification, electronic hydraulic brake system is gradually applied. Many companies have introduced products related to integrated electronic hydraulic brake system (I-EHB). In this paper, an I-EHB system is introduced, which uses the motor to drive the reduction mechanism as a power source for braking. The reduction mechanism is composed of a turbine, a worm, a gear and a rack. A control method based on command feed-forward is proposed to improve the hydraulic pressure control of I-EHB. Based on previous research, we simplify the system to first order system, and the theoretical design of the command feed-forward compensator is carried out. The feed-forward controller is applied, including the velocity feed-forward and the acceleration feed-forward, to improve the response speed and tracking effect of the system. Then, related experiments were carried out on test bench to track three different types of target signal (different amplitude and frequency), step signal, sine wave signal and triangular wave signal. Compared with the test result of PID control method, the proposed method has the advantages of fast response and short regulation time. And the Control error at low frequency of the method is about 2 bar - reduced by 56% compared with PID control. Therefore, this method can effectively control the Hydraulic pressure of integrated electronic hydraulic brake system.