B. Boulet, L. Daneshmend, V. Hayward, J.F. Mougenet, C. Nemri System identification of the above mentionned actuators was carried out in view of their control. The actuator properties and performance were identified and an analytical model was derived leading to an accurate software simulator including all the dominant non-linear elements. From this model, several laws designed to accomodate the control of two or more kinematically coupled actuators have been proposed and are currently under experimental evaluation. Recently, a simple control has been proposed which can quench limit cycles occuring at high feedback gains and which can improve the rise time by an order of magnitude.