Method to command and control an electric motor of an automation unit. The unit comprises a mechanical member, driven by a drive shaft, a central command and control unit, and a position detection mean. The method provides that the central command and control unit receives the position signals of the shaft of the electric motor and/or of the mechanical member from the position detection mean, divides the operating cycle into a plurality of sub-phases equal with respect to each other, consisting of elementary units and, for each of said sub-phases, or multiple of sub-phases, selects predefined or self-learnt current reference values, and generates a signal consisting of an instantaneous current reference (feed forward) for the electric motor.