Method for building tyres, comprising: providing an anthropomorphic robotized arm for rotatably moving an output end effector thereof; associating a building drum with said output end effector, so that said output end effector rotatably moves said building drum about a geometric axis of said building drum; feeding an elementary semifinished product, at a given linear speed, from a feeding apparatus; depositing, on said building drum, said elementary semifinished product in the form of side-by-side coils, so as to form at least one component of a tyre being processed; said method being characterized in that it further comprises: activating a processor for determining, as a function of said given linear speed, a target speed for the rotation of said building drum; activating said processor for determining, as a function of said target speed, a target value for a speed parameter associated with the rotation of said building drum; if said target value is not an integer number, activating said processor in order to execute the following operations: determining a drive interval shorter than a settling time of an anthropomorphic robotized arm-building drum system for said output end effector; calculating a first value, equal to the integer number immediately preceding said target value; calculating a second value, equal to the integer number immediately following said target value; calculating, in said drive interval, a PWM profile for said speed parameter, said PWM profile having a minimum value equal to said first value and a maximum value equal to said second value; controlling said output end effector as a function of said PWM profile. providing an anthropomorphic robotized arm for rotatably moving an output end effector thereof; associating a building drum with said output end effector, so that said output end effector rotatably moves said building drum about a geometric axis of said building drum; feeding an elementary semifinished product, at a given linear speed, from a feeding apparatus; depositing, on said building drum, said elementary semifinished product in the form of side-by-side coils, so as to form at least one component of a tyre being processed; said method being characterized in that it further comprises: activating a processor for determining, as a function of said given linear speed, a target speed for the rotation of said building drum; activating said processor for determining, as a function of said target speed, a target value for a speed parameter associated with the rotation of said building drum; if said target value is not an integer number, activating said processor in order to execute the following operations: determining a drive interval shorter than a settling time of an anthropomorphic robotized arm-building drum system for said output end effector; calculating a first value, equal to the integer number immediately preceding said target value; calculating a second value, equal to the integer number immediately following said target value; calculating, in said drive interval, a PWM profile for said speed parameter, said PWM profile having a minimum value equal to said first value and a maximum value equal to said second value; controlling said output end effector as a function of said PWM profile. activating a processor for determining, as a function of said given linear speed, a target speed for the rotation of said building drum; activating said processor for determining, as a function of said target speed, a target value for a speed parameter associated with the rotation of said building drum; if said target value is not an integer number, activating said processor in order to execute the following operations: determining a drive interval shorter than a settling time of an anthropomorphic robotized arm-building drum system for said output end effector; calculating a first value, equal to the integer number immediately preceding said target value; calculating a second value, equal to the integer number immediately following said target value; calculating, in said drive interval, a PWM profile for said speed parameter, said PWM profile having a minimum value equal to said first value and a maximum value equal to said second value; controlling said output end effector as a function of said PWM profile. determining a drive interval shorter than a settling time of an anthropomorphic robotized arm-building drum system for said output end effector; calculating a first value, equal to the integer number immediately preceding said target value; calculating a second value, equal to the integer number immediately following said target value; calculating, in said drive interval, a PWM profile for said speed parameter, said PWM profile having a minimum value equal to said first value and a maximum value equal to said second value; controlling said output end effector as a function of said PWM profile.