A novel scheme of the well-known technique for parallel operation of uninterruptible power supply systems, namely frequency and voltage droop control method, is presented. The innovation relies on active power estimation, together with the use of a piecewise-continuous nonlinear function, in order to eliminate the need for costly cascaded low-pass filters usually employed to estimate the reactive power. Moreover, the whole scheme is derived in the time domain on a state-space approach. As a consequence, models that are lower order and more amenable to nonlinear analysis are obtained. Simulated results for two UPS parallel operation connected to a resistive load are presented. The results indicate that the novel technique leads to a proper load sharing.