set failure

Going your last set to failure is fine. I'd also say you'd want to keep a constant contraction or "flex" through the entire range of motion, use full range of motion, and use a slower tempo.
 
Evolution is absolutely correct - and a word of caution:

If you engage in any exercise like the Bench Press using a Barbell, please enlist the assistance of a Spotter if you are going for Positive Failure. It's just common sense, however every week I see someone stuck under a Barbell full of weight, calling out for help.

If you can't get a spotter, and you still want to reap the benefits of Postive Failure, use a Nautilus Machine (or similar) for that exercise.
 
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