Method for controlling an electrical actuator of a vehicle by means of a PWM type control; the method comprises the steps of: determining an objective mean current (I m_obj) to be fed to the electrical actuator during a control period (T k); determining an objective duty-cycle which, during the control period (T k), allows the objective mean current (I m_obj) to be fed to the electrical actuator according to a control voltage (V batt) and to an estimation of the impedance of the electrical actuator; controlling, during the control period (T k), the electrical actuator by applying the control voltage (V batt) through the objective duty-cycle; and measuring the actual value (I real) of the current fed to the electrical actuator at a precise measure instant (t r) determined within the control period (T k) for each control period (T k) by means of a current sensor; the control method is characterized in that it comprises the further steps of: determining, at the same measure instant (t r) at which the actual value (I real) has been measured, an estimated value (I est) of the current fed to the electrical actuator according to the control voltage (V batt), the objective duty-cycle and the estimation of the impedance of the electrical actuator; wherein the estimated value (I est) of the current fed to the electrical actuator is obtained by selecting from a vector comprising a plurality (N step) of elements which result from an estimation of the progress of the current fed to the electrical actuator during the control period (T k) by means of a numerical analysis method applied to an equation of state of the electrical circuit of the electrical actuator; and calculating a deviation (ε) between the actual value (I real) and the estimated value (I est) of the current fed to the electrical actuator at the measure instant (t r); and updating the estimation of the impedance of the electrical actuator according to the deviation (ε) between the actual value (I real) and the estimated value (I est) of the current fed to the electrical actuator at the measure instant (t r). determining an objective mean current (I m_obj) to be fed to the electrical actuator during a control period (T k); determining an objective duty-cycle which, during the control period (T k), allows the objective mean current (I m_obj) to be fed to the electrical actuator according to a control voltage (V batt) and to an estimation of the impedance of the electrical actuator; controlling, during the control period (T k), the electrical actuator by applying the control voltage (V batt) through the objective duty-cycle; and measuring the actual value (I real) of the current fed to the electrical actuator at a precise measure instant (t r) determined within the control period (T k) for each control period (T k) by means of a current sensor; the control method is characterized in that it comprises the further steps of: determining, at the same measure instant (t r) at which the actual value (I real) has been measured, an estimated value (I est) of the current fed to the electrical actuator according to the control voltage (V batt), the objective duty-cycle and the estimation of the impedance of the electrical actuator; wherein the estimated value (I est) of the current fed to the electrical actuator is obtained by selecting from a vector comprising a plurality (N step) of elements which result from an estimation of the progress of the current fed to the electrical actuator during the control period (T k) by means of a numerical analysis method applied to an equation of state of the electrical circuit of the electrical actuator; and calculating a deviation (ε) between the actual value (I real) and the estimated value (I est) of the current fed to the electrical actuator at the measure instant (t r); and updating the estimation of the impedance of the electrical actuator according to the deviation (ε) between the actual value (I real) and the estimated value (I est) of the current fed to the electrical actuator at the measure instant (t r). determining, at the same measure instant (t r) at which the actual value (I real) has been measured, an estimated value (I est) of the current fed to the electrical actuator according to the control voltage (V batt), the objective duty-cycle and the estimation of the impedance of the electrical actuator; wherein the estimated value (I est) of the current fed to the electrical actuator is obtained by selecting from a vector comprising a plurality (N step) of elements which result from an estimation of the progress of the current fed to the electrical actuator during the control period (T k) by means of a numerical analysis method applied to an equation of state of the electrical circuit of the electrical actuator; and calculating a deviation (ε) between the actual value (I real) and the estimated value (I est) of the current fed to the electrical actuator at the measure instant (t r); and updating the estimation of the impedance of the electrical actuator according to the deviation (ε) between the actual value (I real) and the estimated value (I est) of the current fed to the electrical actuator at the measure instant (t r).