I. Introduction
Drives have been progressively working for more than a century in every areas of society (in developed countries they consume about a quarter of total electricity consumption and over 70% of consumption industrial [1] ). In most cases, the load is driven via a more or less complex mechanical transmission: gearbox, multiplier, rack pinion, differential, universal joints … The transmission then has the role of adapting the load to the engine, which allows to use, more often than not, standard motors.