Abstract: A motor assembly, control system and associated method monitor the rotational engagement of an input shaft associated with a motor with an output shaft configured to controllably position a control surface. In this regard, a control system includes a motor assembly and an associated controller. The motor assembly includes a motor configured to rotate an input shaft and a first encoder configured to determine a rotational position of the input shaft. The motor assembly also includes an output shaft, such as a capstan, and a second encoder configured to determine a rotational position of the output shaft. The output shaft is rotatably coupled to the input shaft associated with the motor via a clutch. The controller is configured to identify slippage of the clutch based upon information provided by the first and second encoders regarding the rotational positions of the input shaft and the output shaft, respectively.