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I am working on the sizing machine which have three DC motors.The centre motor is the master drive and the rest two are slave.The yarns are fed through one slave drive to the master and then form master, yarns are fed to the second slave drive which is the winding beam drive.The yarns are fed in such a way that the tension of yarns during the whole process should remain same.This can be achieved by synchronizing the 3 DC motors.I am working on 2 PI controllers in cascade mode. If anyone have any idea or practical implementation for this problem please reply. The 3 drives are equipped with 3 tacho motors.