An apparatus comprising: a master drive comprising a motor, a motor control system and an encoder feedback device coupled to the motor to generate at least one feedback position signal indicative of movement of the motor; one or more slave drives, each comprising a motor, a motor control system and an encoder feedback device coupled to the motor to generate at least one feedback position signal indicative of movement of the motor; a synchronization unit generating a timing signal in conjunction with a reference position and a velocity and providing them to the one or more slave drives; responsive to the timing signal, each motor control system (104, 114) makes control adjustments by using: a comparator operable to receive the respective at least one feedback position signal and generate a first position signal including a plurality of edges based on the feedback position signal; a counter operable to receive the first position signal and count the edges to periodically generate position values at a predetermined update interval; and a prediction unit operable to receive a position data request at a first time and predict the position of the motor (102, 112) based on the most recent position value and a difference between the first time and a time of generation of the most recent position value to generate an updated feedback position signal; and a position regulator operable to use the updated feedback position signal to provide a position error signal used for controlling the position of the motor (102, 112). a master drive comprising a motor, a motor control system and an encoder feedback device coupled to the motor to generate at least one feedback position signal indicative of movement of the motor; one or more slave drives, each comprising a motor, a motor control system and an encoder feedback device coupled to the motor to generate at least one feedback position signal indicative of movement of the motor; a synchronization unit generating a timing signal in conjunction with a reference position and a velocity and providing them to the one or more slave drives; responsive to the timing signal, each motor control system (104, 114) makes control adjustments by using: a comparator operable to receive the respective at least one feedback position signal and generate a first position signal including a plurality of edges based on the feedback position signal; a counter operable to receive the first position signal and count the edges to periodically generate position values at a predetermined update interval; and a prediction unit operable to receive a position data request at a first time and predict the position of the motor (102, 112) based on the most recent position value and a difference between the first time and a time of generation of the most recent position value to generate an updated feedback position signal; and a position regulator operable to use the updated feedback position signal to provide a position error signal used for controlling the position of the motor (102, 112). a comparator operable to receive the respective at least one feedback position signal and generate a first position signal including a plurality of edges based on the feedback position signal; a counter operable to receive the first position signal and count the edges to periodically generate position values at a predetermined update interval; and a prediction unit operable to receive a position data request at a first time and predict the position of the motor (102, 112) based on the most recent position value and a difference between the first time and a time of generation of the most recent position value to generate an updated feedback position signal; and a position regulator operable to use the updated feedback position signal to provide a position error signal used for controlling the position of the motor (102, 112).