Method for generating a control signal (S c) by pulse modulation according to a reference signal ( S ref), the method comprising forming successive modulation sequences, each sequence comprising a transition between a low state and a high state or vice versa, the method comprising the following iterative steps, each iteration being associated with a current instant: a) calculating a time derivative ( S' ref ( t i)) of the reference signal, the time derivative being associated with a current modulation sequence corresponding to the current instant ( t i); b) according to the time derivative of the reference signal ( S' ref ( t i)) calculated in a), defining the current sequence ( M ( t i)), such that: ▪ when the derivative is positive, the current sequence ( M ( t i)) comprises a high state preceded by a low state, the high state extending up to the end of the current sequence; ▪ when the derivative is negative, the current sequence ( M ( t i)) comprises a high state followed by a low state, the low state extending up to the end of the current sequence; the low state and the high state extending over a low state duration ( T low ( t i)) and a high state duration ( T high ( t i)) respectively, the current sequence ( M ( t i)) extending from the current instant ( t i), over a sequence duration ( T ( t i); c) taking into account a high level ( high ( t i)), corresponding to the high state, and a low level ( l ow( t i)), corresponding to the low state, the high level being strictly greater than the low level; d) according to the amplitude of the reference signal ( S ref) and the high and low levels taken into account in c), determining the duration ( T high ( t i)) of the high state or the duration ( T low ( t i)) of the low state of the current sequence defined in step b); e) reiterating steps a) to e), by incrementing the current instant by a duration equal to the duration of the sequence resulting from d), or stopping the iterations; the method also comprising: generating the control signal ( S c), according to the modulation sequences defined in steps d) of the different iterations. a) calculating a time derivative ( S' ref ( t i)) of the reference signal, the time derivative being associated with a current modulation sequence corresponding to the current instant ( t i); b) according to the time derivative of the reference signal ( S' ref ( t i)) calculated in a), defining the current sequence ( M ( t i)), such that: ▪ when the derivative is positive, the current sequence ( M ( t i)) comprises a high state preceded by a low state, the high state extending up to the end of the current sequence; ▪ when the derivative is negative, the current sequence ( M ( t i)) comprises a high state followed by a low state, the low state extending up to the end of the current sequence; the low state and the high state extending over a low state duration ( T low ( t i)) and a high state duration ( T high ( t i)) respectively, the current sequence ( M ( t i)) extending from the current instant ( t i), over a sequence duration ( T ( t i); ▪ when the derivative is positive, the current sequence ( M ( t i)) comprises a high state preceded by a low state, the high state extending up to the end of the current sequence; ▪ when the derivative is negative, the current sequence ( M ( t i)) comprises a high state followed by a low state, the low state extending up to the end of the current sequence; c) taking into account a high level ( high ( t i)), corresponding to the high state, and a low level ( l ow( t i)), corresponding to the low state, the high level being strictly greater than the low level; d) according to the amplitude of the reference signal ( S ref) and the high and low levels taken into account in c), determining the duration ( T high ( t i)) of the high state or the duration ( T low ( t i)) of the low state of the current sequence defined in step b); e) reiterating steps a) to e), by incrementing the current instant by a duration equal to the duration of the sequence resulting from d), or stopping the iterations; the method also comprising: generating the control signal ( S c), according to the modulation sequences defined in steps d) of the different iterations. generating the control signal ( S c), according to the modulation sequences defined in steps d) of the different iterations.