Coupled Drive Controllers (Advacned Control)

Hi Team , I just want to ask if any one here has ever worked on Coupled Drive apparatus given two motors attached to a jockey and pulley and have to desing different controllers for tension of the belt and speed and angle. Desgingin SFC controller , LQR/LQG and Nonlinear control. Any suggestion how to apprach or if any modelling of the system done . PLEASE would be really appreciated

ller .