A process to meet terminal conditions of a travel plan, using the ungenerador procedure (4) of travel, the method comprising: issuing instructions (21) control from the generator (4) of travel to a movement in derecorrido plan, characterized in that the method further comprises: calculating the time remaining to complete the movement in said travel plan, determining (23) if the remaining time is less than the duration of a sampling period; ycalcular terminal values by substituting (24) said remaining time duration demuestreo period when the remaining time is less than the sampling period, so that the discrete time controladorde issue the instruction to the terminal conditions to a controlled element.
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