Method and system for controlling at least one electrical machine

A system for use in a vehicle, wherein the vehicle comprises:

• one or more power sources including at least one electrical machine;
• and a drivetrain for transferring torque between the one or more power sources and at least one drive wheel of the vehicle;
• wherein the system comprises:
• means for controlling, when no positive drive torque (Tdrive) is transferred from the drivetrain to the at least one drive wheel, the at least one electrical machine to provide a backlash torque (Tbacklash) to the drivetrain, the backlash torque (Tbacklash) having a controlled value for turning the drivetrain if there is a backlash present in the drivetrain.

A vehicle comprising:

• one or more power sources including at least one electrical machine;
• a drivetrain for transferring torque between the one or more power sources and at least one drive wheel of the vehicle;
• and
• a system comprising means for controlling, when no positive drive torque (Tdrive) is transferred from the drivetrain to the at least one drive wheel, the at least one electrical machine to provide a backlash torque (Tbacklash) to the drivetrain, the backlash torque (Tbacklash) having a controlled value for turning the drivetrain if there is a backlash present in the drivetrain.