Methods and systems are provided, including a method for an electric vehicle having at least two motors providing drive torque. In one example, the method comprises operating with speed damping control, including determining that a first motor has more power authority than requested and a second motor has a shortage of power authority, and in response, reallocating power authority from the first motor to the second motor to increase usage of authorized power for speed damping. In one example of the method, the first motor and the second motor are in electronic communication with a centralized integrated control system.