An anti-pinch is a safety system that senses if a motor is running against an obstacle and prevents any injuries to people or damages to the obstacle or the motor itself. The anti-pinch sensing is usually performed by current monitoring, hall sensors or a combination of both. The state-of-the-art anti-pinch strategy is derivate based. It is simple to implement, and it check continuously the variation of the current and the variation of the velocity. Both are compared with a threshold and if they simultaneously report the presence of an obstacle, the motor is blocked. Although this task may look simple at first sight, many are the factor that add complexity and uncertainty to a standard algorithm: varying system conditions, mechanical and electrical uncertainties, mechanical wear of the motor system, etc.