Included are a first position detection part that detects a first position which is the position of a movable part; a second position detection part that detects a second position which is the position of a driven part; a positional error calculation part that calculates positional error, which is deviation between a converted first position detection value and a second position detection value; and a positional error variation calculation part that calculates an absolute value for variation of positional error since reversal of a position command was detected, in which addition of a backlash correction amount is started if the absolute value for the variation of the positional error exceeds a first reference value, and addition of a backlash acceleration amount is started if the absolute value of variation of the positional error exceeds a second reference value.

Included are a first position detection part that detects a first position which is the position of a movable part; a second position detection part that detects a second position which is the position of a driven part; a positional error calculation part that calculates positional error, which is deviation between a converted first position detection value and a second position detection value; and a positional error variation calculation part that calculates an absolute value for variation of positional error since reversal of a position command was detected, in which addition of a backlash correction amount is started if the absolute value for the variation of the positional error exceeds a first reference value, and addition of a backlash acceleration amount is started if the absolute value of variation of the positional error exceeds a second reference value.

Methods and systems are provided for an electric vehicle are provided. In one example, a method for an electric vehicle having a first prime mover for supplying a torque to a first axle and a second prime mover for supplying a torque to a second axle comprises transitioning the first prime mover and the second prime mover to cross a lash zone one before the other, where the lash zone of the second prime mover does not overlap with the lash zone of the first prime mover. In one example, the first prime mover is controlled with a first electronic controller and the second prime mover is controlled with a second electronic controller positioned separately in the vehicle from the first electronic controller. In one example, the method further comprises communicating information from the first electronic controller to the second electronic controller via a communication area network.