This paper presents a method to design a synchronous controller for coordination among multiple actuators. Despite identical actuators are used to drive a single mechanism, there are several parameter uncertainties and disturbances such as friction, backlash, saturation and time delays. These can generate unexpected vibration on the mechanism. To coordinate the multiple actuators by cancelling the effect of these on the mechanism, a synchronous controller is designed. Simple rack and pinion driven by two motors is adopted as an example. To validate the proposed synchronous controller, simulation is conducted on the simple rack and pinion mechanism.