A method of gear shifting in a servo-controlled gearbox. The method generates an oscillation on angular velocities of primary and secondary shafts of the gearbox, separates the primary shaft from the secondary shaft thus disengaging a first current gear when the oscillation has taken the angular velocity of the primary shaft close to the angular velocity that the primary shaft must assume to engage a second next gear, and connects the primary shaft to the secondary shaft thus engaging the second next gear when the oscillation has led the angular velocity of the secondary shaft to equalize the current angular velocity of the primary shaft multiplied by the transmission ratio of the second next gear.
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