A communication system comprises a twisted pair communication link operably coupled to at least two driver stages for providing at least two independent input signals on the twisted pair communication link. The at least two independent input signals on the twisted pair communication link are summed and input to a comparator arranged to compare the summed signal to a reference value. The output of the comparator is input to the at least two driver stages. The outputs from the at least two driver stages are summed and fed back and summed with one or more of the independent input signals.In this manner, adverse effects due to non-ideal symmetry between components in a twisted pair communication link, such as a Controller Area Network system, are reduced.