METHOD AND SYSTEM FOR CONTROLLING AT LEAST ONE ELECTRICAL MACHINE

A method and a system for a vehicle comprising: one or more power sources including at least one electrical machine; and a drivetrain for transferring torque between the one or more power sources and at least one drive wheel of the vehicle. The method comprises: controlling, when no positive drive torque (T) is transferred from the drivetrain to the at least one drive wheel, the at least one electrical machine to provide a backlash torque (T) to the drivetrain, the backlash torque (T) having a controlled value for turning the drivetrain if there is a backlash present in the drivetrain.