A vehicle with a system (11, 211) for controlling the propulsion of the vehicle, the system comprising: a direct current bus (12, 333) having positive and negative terminals; a first motor (26, 105) for applying rotational energy to a respective first wheel (30, 112) of the vehicle; a second motor (28, 107, 109, 113) for applying rotational energy to a respective second wheel (32, 114, 118, 120) of the vehicle; a first inverter (22, 102) coupled to the first motor (26, 105), the first inverter (22, 102) receiving direct current electrical energy from the direct current bus (12, 333), the first inverter (22, 102) providing a first group of alternating currents with a corresponding reference phase; a second inverter (24, 110) coupled to the second motor (28, 107, 109, 113), the second inverter (24, 110) receiving direct current electrical energy from the direct current bus (12, 333), and a data bus (32, 114, 118, 120) configured to support communications between the first inverter (22, 102) and the second inverter (24, 110), wherein the second inverter (24, 110) is adapted to provide a second group of alternating currents with a phase shift with respect to the reference phase, such that the phase shift is effective to reduce the direct current ripple on the direct current bus (12, 333); characterized in that the first inverter (22, 102) is adapted to provide, via the data bus (32, 114, 118, 120), a clock signal and a data message or signal to the second inverter (24, 110) configured to instruct the second inverter (24, 110) to operate with a certain phase offset to the first inverter (22, 102), the phase offset referring to the phase that is determined with reference to one of the output signals of the first inverter. a direct current bus (12, 333) having positive and negative terminals; a first motor (26, 105) for applying rotational energy to a respective first wheel (30, 112) of the vehicle; a second motor (28, 107, 109, 113) for applying rotational energy to a respective second wheel (32, 114, 118, 120) of the vehicle; a first inverter (22, 102) coupled to the first motor (26, 105), the first inverter (22, 102) receiving direct current electrical energy from the direct current bus (12, 333), the first inverter (22, 102) providing a first group of alternating currents with a corresponding reference phase; a second inverter (24, 110) coupled to the second motor (28, 107, 109, 113), the second inverter (24, 110) receiving direct current electrical energy from the direct current bus (12, 333), and a data bus (32, 114, 118, 120) configured to support communications between the first inverter (22, 102) and the second inverter (24, 110), wherein the second inverter (24, 110) is adapted to provide a second group of alternating currents with a phase shift with respect to the reference phase, such that the phase shift is effective to reduce the direct current ripple on the direct current bus (12, 333); characterized in that the first inverter (22, 102) is adapted to provide, via the data bus (32, 114, 118, 120), a clock signal and a data message or signal to the second inverter (24, 110) configured to instruct the second inverter (24, 110) to operate with a certain phase offset to the first inverter (22, 102), the phase offset referring to the phase that is determined with reference to one of the output signals of the first inverter.