A control device for controlling a synchronous positioning of a multi-body system, the control device comprising: an input for receiving a first error signal representing a difference between a desired position of a first body of the multi-body system and a measured position of the first body and a second error signal representing a difference between a desired position of a second body of the multi-body system and a measured position of the second body; the control device being configured to: - determine a primary first drive signal for driving a positioning device configured to drive the first body, based on the first error signal; - determine a primary second drive signal for driving a positioning device configured to drive the second body, based on the second error signal; - determine a secondary first drive signal for driving the positioning device configured to drive the first body, the secondary first drive signal being based on the second error signal; and - determine a secondary second drive signal for driving the positioning device configured to drive the second body, the secondary second drive signal being based on the first error signal. - combine the primary first drive signal and the secondary first drive signal to obtain a combined first drive signal and combining the primary second drive signal and the secondary second drive signal to obtain a combined second drive signal; the control device further comprising an output for outputting the combined first drive signal and the combined second drive signal to the respective positioning devices, characterised in that, the control device is further configured to convert the second error signal to the secondary first drive signal using a first transfer function and convert the first error signal to the secondary second drive signal using a second transfer function. an input for receiving a first error signal representing a difference between a desired position of a first body of the multi-body system and a measured position of the first body and a second error signal representing a difference between a desired position of a second body of the multi-body system and a measured position of the second body; the control device being configured to: - determine a primary first drive signal for driving a positioning device configured to drive the first body, based on the first error signal; - determine a primary second drive signal for driving a positioning device configured to drive the second body, based on the second error signal; - determine a secondary first drive signal for driving the positioning device configured to drive the first body, the secondary first drive signal being based on the second error signal; and - determine a secondary second drive signal for driving the positioning device configured to drive the second body, the secondary second drive signal being based on the first error signal. - combine the primary first drive signal and the secondary first drive signal to obtain a combined first drive signal and combining the primary second drive signal and the secondary second drive signal to obtain a combined second drive signal; - determine a primary first drive signal for driving a positioning device configured to drive the first body, based on the first error signal; - determine a primary second drive signal for driving a positioning device configured to drive the second body, based on the second error signal; - determine a secondary first drive signal for driving the positioning device configured to drive the first body, the secondary first drive signal being based on the second error signal; and - determine a secondary second drive signal for driving the positioning device configured to drive the second body, the secondary second drive signal being based on the first error signal. - combine the primary first drive signal and the secondary first drive signal to obtain a combined first drive signal and combining the primary second drive signal and the secondary second drive signal to obtain a combined second drive signal; the control device further comprising an output for outputting the combined first drive signal and the combined second drive signal to the respective positioning devices, characterised in that, the control device is further configured to convert the second error signal to the secondary first drive signal using a first transfer function and convert the first error signal to the secondary second drive signal using a second transfer function.