There are a number of reasons for the interference.
First you need to have something providing the interference and then you need to have a reciever of the interference.
So if you were to try a portable radio and had no interference then you know that the noise, we'll call it noise since you can't understand the noise when heard, may
be transmitted through the house wiring, or maybe the radio is picking it up ( antenna, wiring, internal components ) from the air waves. Lets keep it general and assume your "controller system" is the transmitter. Now you should be able to bring the portable radio with the antenna near the controller system and actualy sense the electric field.
If no noise heard then its its definitely the house wiring. If noise then is it stonger near the box or cables? That would say your shielding is poor. So you should first have shielded
motor cables, the motors are inside a metal case so not coming from the motor body, all the controller components should be inside a metal box.
The best thing to do is eliminate the source of the noise.
How your controller is wired inside can a big difference.
For now...
RICH