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Electro-Mechanical Braking (EMB) system, which completely abandons the traditional hydraulic device, realizes complete human-vehicle decoupling and integrates various functions without adding additional accessories, could meet the requirements of the future intelligent driving technology for high-quality braking control. However, there are significant internal interference of nonlinear characteristics such as mechanical friction and system variable stiffness during the actual working process of EMB, and these make the accuracy and rate of the clamping force control decline. This paper proposes a precise clamping force control strategy for EMB based on nonlinear characteristics compensation. First, we systematically analyze the working principle of EMB, and establish the mathematical model of EMB system including motor, transmission mechanism and friction. At the same time, some typical experiments are designed to identify internal parameters of friction model.