The brake friction materials in automotive brake systems play an important role in the overall braking performance of a vehicle. Wear test results have previously been presented for a 1040 steel disc interacting with a PM copper-based brake lining material without and with MoS2 additive at constant applied load and sliding velocity. In this paper, a non-linear model has been developed and compared with a previously developed linear model and experimental results. Nonlinear ARX model structure with sigmoid network having one hidden layer was used to find the best possible results. Linear and non-linear approaches have been applied to simulate the wear behaviour of the brake lining material. Comparative results showed that the nonlinear model provides results closer to the experimental study. Therefore, non-linear process modelling can be used as an effective tool for the prediction of brake lining material properties instead of time-consuming experimental processes.