You want to look at the voltage ACROSS the emitter resistors. This is directly related to the current each is passing. The schematic says 0.2 ohms (0R2).
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I was just reading the datasheet for the LM350.... There is a cracking design for a 0 ~ 10 amp bench supply using 4 in parallel.
Watching with interest...
!5 is probably a bad number. You might also make sure you have some hysteresis. e.g In at 18, out at16 V. or whatever, so you may want a window comparator.
I agree that automatic switching should have some hysterysis in the switching voltage.
Also, I think that you may find the auto switching a bit of a pain at times, I cannot fully justify this statement, just a gut feel that I have.
You need a resistor from the output back to +ve, to give hysteresis.