## 5 Conclusions
The first was based on a real-world scenario requested by the industrial partner and involved end-of-line sorting with four parallel outputs. The second involved a section of a transport line with lateral outputs. The results include both graphical and numerical demonstrations of the packages reaching the desired positions. For both tests, the initial and final positions, the trajectories of the centers of mass (COM), and the target configurations of the packages on the surface are illustrated. These representations are accompanied by the error trends used in the control law to define the modules and axes to actuate, as well as the settling times that indicate the system's response speed. Both simulation results highlight the achievement of the predefined tasks. Moreover, the outcomes emphasize the capabilities of the control and the simulation environment. Indeed, any other layout or industrial task could have been quickly chosen and simulated to facilitate physical definition and control feasibility verification. This achievement also marks the culmination of the digital model validations conducted throughout the study [2], as it finally demonstrates the practical applications and potential of the model itself. Future work will focus on further enhancing the control system and addressing its current limitations. A key step will be the development of a new prototype equipped with faster and more accurate sensors, e.g., a faster camera (increased _fps_) and a control board with higher computing capacity to avoid the transfer to the external computer. With this sort of upgrade, the setup will enhance real-time monitoring and enable more effective testing of the PID controller under realistic operating conditions. Additionally, a comprehensive robustness analysis will be conducted to evaluate the system's performance in the presence of variations in critical parameters such as friction coefficients, package dimensions, weights, etc. Lastly, another aspect that could benefit from further refinement is the tuning of the PID controller gains (\(K_{p}\), \(K_{i}\), \(K_{d}\)), which can be further refined by exploring and testing different parameter selection techniques available in the literature. These efforts will contribute to improving control accuracy and system reliability in practical applications. Conceptualization, E.B., F.J.B.D. and J.A.Y.-F.; methodology, E.B. ; software, E.B. ; validation, E.B. ; formal analysis, E.B. ; investigation, E.B. ; writing original draft preparation, E.B. ; writing--review and editing, E.B., F.J.B.D. and J.A.Y.-F.; visualization, E.B. ; supervision, F.J.B.D. and J.A.Y.-F.; project administration, F.J.B.D. and J.A.Y.-F. All authors have read and agreed to the published version of the manuscript. This research received no external funding. Not applicable. Data Availability Statement: Data are contained within the article. **Acknowledgments:** This research work was undertaken in the context of DIGMAN4.0 project (\"Digital Manufacturing Technologies for Zero-defect\", (accessed on 10 March 2025) [[https://www.digiman4-0.mek.dtu.dk/](https://www.digiman4-0.mek.dtu.dk/)]([https://www.digiman4-0.mek.dtu.dk/](https://www.digiman4-0.mek.dtu.dk/))). DIGMAN4.0 is a European Training Network supported by Horizon 2020, the EU Framework Programme for Research and Innovation (Project ID: 814225). The authors would like to express their gratitude to Dumarey Flowmotion Technology for their valuable support and for providing the industrial specifications and case study that contributed to this research. **Conflicts of Interest:** The authors declare no conflicts of interest.