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This paper deals with a control technique of eliminating the transient vibration of ai twin-drive geared mechanical system with backlash. This technique is based on a model-based control integrated into the position control loop. The control model as a dynamical compensator is composed of a linear reduced-order model related to the velocity control loop and a delay element related to the backlashi. This control model estimates a load speed converted to the motor shaft. The difference between the estimated load speed and the motor speed is dynamically calculated, and it is added to the velocity command to suppress the transient vibratiion generated at the load. Further, a local current Compensating loop is integrated into the current control loop to avoid the interference of the output torque of each motor. In this paper, the performance and the effectiveness of the model-based control integrated into the position control loop is verified by simulations. Simulations show satisfactory control results to reduce the transient vibration at the load.