Abstract: A multiple inverter system is powered from a common energy source such as a battery. First and second inverters are coupled to the common energy source and drive corresponding motors. First and second controllers provide pulse width modulated signals, modulated with respect to first and second clock signals, respectively, to the respective first and second inverters. A capacitor coupled between a power bus and a ground bus smoothes power bus ripples caused by simultaneous switching. To reduce the size needed for the capacitor, different modulation schemes, such as center based interleaved, and leading and lagging edge coincident, are used when both motors are in the motoring mode or both motors are in the regeneration mode. However, the same modulation scheme is used when one motor is in the motoring mode and the other motor is in the regeneration mode.