Position control of mechanically paralleled electrical drives without intercommunication buses

A system comprising;

• a mechanical load;
• and
• a first electrical motor and associated motor drive and a second electrical motor and associated motor drive, the first electrical motor and the second electrical motor being configured to drive the mechanical load in parallel;
• wherein each electrical motor and associated motor drive have a respective position sensor configured to measure the output position of the mechanical load;
• and
• wherein each motor drive comprises a respective controller configured to output a current demand for its associated motor based on a position error between a desired output position of the mechanical load and the measured output position of the mechanical load from its respective position sensor, and a feedback signal of its output current demand;
• wherein the feedback signal comprises either a cubic function of the output current demand or a quadratic function of the output current demand.