$postData['category']
this will be your database table column name and $this->getRequest()->getPost('category')
your form field name.
implode function will be add ,
between the values.
$postData['category'] = implode(',',$this->getRequest()->getPost('category'));
add in controller.php in saveAction
$model = Mage::getModel('brand/brand');
$data['category']$data['products'] = implode(',',$this->getRequest()->getPost('category'));
$model->setData($data);