The invention relates to a method for controlling an aircraft taxi system, comprising the steps of:



generating a traction command (Com) to control an electric motor of a wheel drive actuator;
detecting whether or not an external brake command, intended to control braking of the wheel via the brake, is generated;
if an external braking command is generated, producing a predetermined minimum command (Cmp) to control the electric motor so that the drive actuator applies a strictly positive predetermined minimum motor torque to the wheel during braking;
detecting whether a speed of the aircraft becomes zero and, if so, inhibiting the predetermined minimum command (Cmp) so that the drive actuator applies zero torque to the wheel.