Abs Brake Fail problems of the 1996 Acura Integra

It my second Acura Integra one 1994 the other one 1996 and the abs system has failed on my Integra abs works half of time and pumping noise come out every time I pres the brakes and in high speed when pressing the brakes steering wheel shakes drastically plus abs light is on and off, on the old car and the newer Integra same problem plus I had read in the net the others had the same problems with the Integra breaks and is unsafe to not know when the brakes are going to work real good or not to good.