The invention provides a control system for an electric motor arranged to drive a rope drum of a mine winder or a hoist system which includes a conveyance supported by a rope and which forms an oscillating system. The control system includes load sensor which monitors the load in the rope and a rope length sensor which monitors the length of rope paid out from the rope drum. A motor control unit is responsive to signals from the sensors and calculates setpoints for speed, acceleration and jerk of the oscillating system. The control unit generates a control signal which is related to a natural oscillation mode of the oscillating system so as to prevent the excitation of oscillations in the system, and controls a motor drive in accordance with the control signal.
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