Controlling apparatus for a powertrain of an electric vehicle

A controlling apparatus for a powertrain of an electric vehicle, wherein the electric vehicle comprises a gearbox having an input shaft, a first electric machine and a second electric machine, each one of the first and second electric machines being coupled to the input shaft of the gearbox, the controlling apparatus being configured to control operation of the first and second electric machines, and to perform at least a part of a gear shifting operation by the steps of:

• changing a speed of the first and second electric machines to reach a target speed of the input shaft;
• determining that a speed of the input shaft is within a target range of the target speed;
• setting one of the first and second electric machines in a first control mode, the first control mode being speed control to adjust for changes so that the target speed of the input shaft can be kept when reached, and setting the other one of the first and second electric machines in a second control mode being different to the first control mode, in response of determining that the speed of the input shaft is within the target range.