Patent ID: 7847509

Claim:
A method of controlling a plurality of motors based on a motor motion attribute, each of the motors being driven by a corresponding power stage, the method comprising: generating a single desired value of the motor motion attribute for the plurality of motors; determining a current actual value of the motion attribute for each of the motors; generating an attribute error based on the desired value and an average of the current actual values for the plurality of motors; generating a correction value based on at least the attribute error; providing the correction value to each of the power stages; using the correction value, generating in each of the power stages an output for driving the motor corresponding to the power stage; and driving each of the motors using the output generated for the motor, wherein basing the attribute error on the single desired value of the motor motion attribute and on the average of the current actual values for each of the motors equilibrates the output of each motor and causes the combined output of the motors to be proportional to the single desired value of the motor motion attribute.