Patent ID: 8374706

Claim:
A method for moving a machine element of an automation machine having a first drive shaft performing a first movement component and a second drive shaft performing a second movement component, said first and second movement component having a common direction and being controlled by separate first and second controllers, the method comprising the steps of: supplying to the first controller as a desired control variable a first desired value for an overall movement, which is composed of the first and second movement components, supplying to the first controller as an actual control variable a first actual value representing the first movement component, filtering the first desired value using a filter having a frequency-dependent transfer function to generate a filtered first desired variable, determining a difference between the filtered first desired value and the first actual value, and supplying the difference to the second controller as a desired control variable for controlling the second movement component, wherein the frequency-dependent transfer function is V ⁡ ( s ) = 1 + G ⁡ ( s ) - G ⁡ ( s ) F ⁡ ( s ) , wherein G(s) is a transfer function of the first drive shaft and F(s) is a transfer function of the second drive shaft and s=j· 2 ·π·f+σ, wherein f is a frequency and j is the imaginary unit and σ is the real part of s.