In HEV and EV, higher fuel economy is achieved by operating the ICE and electric motor in the most efficient region and by using regenerative braking. Such a braking system converts, transfers, stores and reuses kinetic energy which would otherwise be dissipated as heat through friction brakes to the environment. This research investigates the control of braking for a mixed-mode braking system in a these vehicles based on the proportion of braking energy that can be stored. Achieving mixed-mode braking requires the ‘blending’ of the two systems (regenerative and friction), and in brake blending, the electric motor/generator (M/G) and the hydraulic actuation pressure are controlled together to meet the driver’s braking demand. The research presented here has established a new robust dynamic modelling procedure for the design of combined regenerative and hydraulic braking systems. Direct torque control and pressure control were selected as the control criteria in both brakes. Two simulation models have been developed in Matlab/Simulink to generate analysis the performance of the control strategy in the blended braking system. Integration of the regenerative braking system with ABS has also been completed, based on two conditions, with and without the deactivation of the regenerative braking. Verification of the models is presented, based on experimental work on two EVs manufactured by TATA Motors; the ACE light commercial vehicle and the VISTA small passenger car. It is concluded that braking demand and vehicle speed determine the operating point of the motor/generator and hence the regenerative braking ratio.