Dual pinion drive system

A control system for controlling a mechanical system having first and second electrical machines, the control system comprising:

• a controller component, a first output component, a second output component, a first filter component, and a second filter component;
• wherein the controller component is operable to receive a first signal which relates to a measured parameter of a first electrical machine and a second signal which relates to a reference parameter of the first electrical machine, the controller component being operable to use the first signal and the second signal to produce a first control signal;
• the first filter component is operable to receive the first signal from the first electrical machine and to use the first signal to produce a second control signal;
• the second filter component is operable to receive a third signal which relates to a measured parameter of a second electrical machine and to use the third signal to produce a third control signal;
• the first output component is operable to receive the first control signal and the second control signal and to combine the first and second control signals to produce a first output control signal for provision to the first electrical machine;
• and
• the second output component is operable to receive the first control signal and the third control signal and to combine the first and third control signals to produce a second output control signal for provision to the second electrical machine.