Energy transmission system for contactless transmission of electrical energy by means of inductive coupling or by means of capacitive coupling from a transmitting device of the energy transmission system to a plurality of receiving modules of the energy transmission system; wherein the receiving modules each comprise a field receiving element for receiving electrical energy; wherein the transmitting device includes a plurality of transmitting modules and a control device; wherein the transmitting modules each include a field generating element for generating an alternating energy field and an electrical energy source for applying in a wired manner an electrical alternating variable to the respective field generating element; wherein, in an energy transmission mode, the control device is configured for driving the electrical energy sources in such a way that a plurality of the transmitting modules simultaneously each generate one of the alternating energy fields, wherein, in the energy transmission mode, the electrical alternating variables are controlled as a function of a coupling matrix, wherein the coupling matrix for a plurality of or for all of the field generating elements includes coupling factors to several of or to all of the field receiving elements; characterized in that at least one of the receiving modules comprises an adjustable compensation element connected in parallel or in series with the field receiving element, wherein the respective receiving module is configured for adjusting the respective compensation element as a function of a cross-coupling matrix, wherein the cross-coupling matrix for several of or for all of the field receiving elements includes cross-coupling factors to several of or to all of the other field receiving elements. wherein the receiving modules each comprise a field receiving element for receiving electrical energy; wherein the transmitting device includes a plurality of transmitting modules and a control device; wherein the transmitting modules each include a field generating element for generating an alternating energy field and an electrical energy source for applying in a wired manner an electrical alternating variable to the respective field generating element; wherein, in an energy transmission mode, the control device is configured for driving the electrical energy sources in such a way that a plurality of the transmitting modules simultaneously each generate one of the alternating energy fields, wherein, in the energy transmission mode, the electrical alternating variables are controlled as a function of a coupling matrix, wherein the coupling matrix for a plurality of or for all of the field generating elements includes coupling factors to several of or to all of the field receiving elements; characterized in that at least one of the receiving modules comprises an adjustable compensation element connected in parallel or in series with the field receiving element, wherein the respective receiving module is configured for adjusting the respective compensation element as a function of a cross-coupling matrix, wherein the cross-coupling matrix for several of or for all of the field receiving elements includes cross-coupling factors to several of or to all of the other field receiving elements.