A system for controlling an actuator with a direct current motor and straight recesses, comprising: a position sensor for measuring the angular position (θ) of said motor; a current sensor for measuring the intensity (Im) of the electric current in said motor; a corrector (CORRP) of the angular position of said motor receiving as input the difference between a setpoint angular position and an angular position (θ) measured by said position sensor, transmitted via a position feedback loop, and delivering as output a setpoint of the angular rotation speed of said motor; a corrector (CORRV) of the angular rotation speed of said motor receiving as input the difference between the angular speed setpoint delivered by said angular position corrector (CORRP) and an estimated angular speed ( Ω̂) of rotation of said motor, and delivering as output a setpoint of the current intensity in said motor; and a corrector (CORRC) of the current intensity in said motor receiving as input the difference between the current intensity setpoint delivered by said angular speed corrector (CORRV) and a current intensity (Im) in said motor measured by said current sensor, transmitted via a current feedback loop, and an estimated intensity ( Îr) of resistant current representing a resistant torque and delivering as output an electric voltage (Um) applied to said motor, characterised in that it comprises a first estimator (ESTV) of said angular speed ( Ω̂) of rotation of said motor receiving as input said current intensity (Im) measured in said motor and said electric voltage (Um) applied to said motor via a voltage feedback loop, and a second estimator (ESTCR) of said intensity ( Îr) of resistant current, mounted in a cascade-like manner with said first estimator (ESTV), and receiving as input said angular speed ( Ω̂) of rotation of said motor estimated by said first estimator (ESTV) and said measured current intensity (Im) of said motor. a position sensor for measuring the angular position (θ) of said motor; a current sensor for measuring the intensity (Im) of the electric current in said motor; a corrector (CORRP) of the angular position of said motor receiving as input the difference between a setpoint angular position and an angular position (θ) measured by said position sensor, transmitted via a position feedback loop, and delivering as output a setpoint of the angular rotation speed of said motor; a corrector (CORRV) of the angular rotation speed of said motor receiving as input the difference between the angular speed setpoint delivered by said angular position corrector (CORRP) and an estimated angular speed ( Ω̂) of rotation of said motor, and delivering as output a setpoint of the current intensity in said motor; and a corrector (CORRC) of the current intensity in said motor receiving as input the difference between the current intensity setpoint delivered by said angular speed corrector (CORRV) and a current intensity (Im) in said motor measured by said current sensor, transmitted via a current feedback loop, and an estimated intensity ( Îr) of resistant current representing a resistant torque and delivering as output an electric voltage (Um) applied to said motor, characterised in that it comprises a first estimator (ESTV) of said angular speed ( Ω̂) of rotation of said motor receiving as input said current intensity (Im) measured in said motor and said electric voltage (Um) applied to said motor via a voltage feedback loop, and a second estimator (ESTCR) of said intensity ( Îr) of resistant current, mounted in a cascade-like manner with said first estimator (ESTV), and receiving as input said angular speed ( Ω̂) of rotation of said motor estimated by said first estimator (ESTV) and said measured current intensity (Im) of said motor.