A tape drive comprising first and second motors, two tape spool supports on which spools of tape may be mounted, each spool being drivable by a respective one of said motors, a sensor for sensing tape motion between the spools, and a controller. The controller is adapted to receive a first signal indicating demanded tape motion, provide a first control signal to at least one of the motors, the first control signal being based upon said demanded tape motion and being configured to cause tape to be transported between spools mounted on the spool supports, receive a second signal from said sensor indicating actual tape motion in response to said first control signal, and provide a second control signal to at least one of the motors, the second control signal being based upon said first and second signals.