Controller structure for a first and a second drive (2, 3), wherein the first drive acts directly on a machine element and the second drive acts directly on the machine element via a speed-changing device, - wherein the controller structure includes a position controller, which in each case receives a position setpoint value (x*) and a position actual value (x) of the machine element with a position-control clock pulse and controls the second drive depending on the respective position setpoint value (x*) and the respective position actual value (x), - wherein the controller structure includes a first speed controller, which in each case receives a resulting speed setpoint value and a speed actual value (v) of the machine element with a first speed-control clock pulse, in each case determines a first force setpoint value (F1*) for the first drive on the basis of the respective resulting speed setpoint value and the respective speed actual value (v) of the machine element and controls the first drive depending on the respective first force setpoint value (F1*), - wherein the controller structure comprises a device, which determines the respective resulting speed setpoint value and outputs this to the first speed controller, - wherein the position controller in each case determines a speed setpoint value (v*) for the machine element on the basis of the respective position setpoint value (x*) and the respective position actual value (x) and outputs the respective speed setpoint value (v*) as an output signal, - wherein the controller structure includes a second speed controller, which in each case receives the resulting speed setpoint value and a speed actual value of the second drive with a second speed-control clock pulse, in each case determines a second force setpoint value (F2*) for the second drive on the basis of the respective resulting speed setpoint value and the respective speed actual value of the second drive and controls the second drive depending on the respective second force setpoint value (F2*), - wherein the first determining device receives the respective speed setpoint value (v*) and determines the resulting speed setpoint value using the respective speed setpoint value (v*) and - wherein the first determining device also outputs the respective resulting speed setpoint value to the second speed controller in addition to the first speed controller. - wherein the controller structure includes a position controller, which in each case receives a position setpoint value (x*) and a position actual value (x) of the machine element with a position-control clock pulse and controls the second drive depending on the respective position setpoint value (x*) and the respective position actual value (x), - wherein the controller structure includes a first speed controller, which in each case receives a resulting speed setpoint value and a speed actual value (v) of the machine element with a first speed-control clock pulse, in each case determines a first force setpoint value (F1*) for the first drive on the basis of the respective resulting speed setpoint value and the respective speed actual value (v) of the machine element and controls the first drive depending on the respective first force setpoint value (F1*), - wherein the controller structure comprises a device, which determines the respective resulting speed setpoint value and outputs this to the first speed controller, - wherein the position controller in each case determines a speed setpoint value (v*) for the machine element on the basis of the respective position setpoint value (x*) and the respective position actual value (x) and outputs the respective speed setpoint value (v*) as an output signal, - wherein the controller structure includes a second speed controller, which in each case receives the resulting speed setpoint value and a speed actual value of the second drive with a second speed-control clock pulse, in each case determines a second force setpoint value (F2*) for the second drive on the basis of the respective resulting speed setpoint value and the respective speed actual value of the second drive and controls the second drive depending on the respective second force setpoint value (F2*), - wherein the first determining device receives the respective speed setpoint value (v*) and determines the resulting speed setpoint value using the respective speed setpoint value (v*) and - wherein the first determining device also outputs the respective resulting speed setpoint value to the second speed controller in addition to the first speed controller.