
\section{Perspectives and Future Work}
Based on the results obtained and the limitations identified during this project, several directions for future work are proposed.

\subsection{Hardware Completion and Testing}
The VESC-based FOC PCB requires routing completion and prototype manufacturing. Once fabricated, the board must be tested under real operating conditions (varying loads, road profiles, and battery voltage).

\subsection{Control Strategy Enhancement}
Future work includes the implementation and comparison of the PI controller and the cascaded control structure on the cargo cart, in order to evaluate their performance under different conditions (load variations, road profiles, etc.).

In addition, the lack of direct velocity measurements limited the ability to fully characterise the system dynamics. Adding a speed measurement or improving state estimation would allow a more complete analysis of the model.



