Improved actuators and valve control systems, and methods for controlling actuators and/or engine valves, are disclosed. In addition to the inherent capability of timing control, the ability to provide continuous valve lift or stroke control greatly improves engine achieve fuel economy, emission and performance. The power-off state of the actuator is at the minimum stroke, from which an easy start-up can be directly executed. The minimum stroke is also very beneficial to achieve efficient low load operation. Even with continuous lift variation, the present invention is able to keep the spring force neutral or zero point in the center of a stroke, thus maintaining an efficient scheme of energy conversion and recovery through the pendulum action. When in compression braking or other high engine cylinder air pressure working mode, the invention is able to supply necessary force to open the engine valve. By adding a substantial hydraulic force to coincide with the spring returning force at the beginning of each stroke, the system can help overcome the engine cylinder air pressure and compensate for frictional losses. The invention incorporates lash adjustment into all alternative preferred embodiments, and makes it possible to trigger and complete one engine valve stroke by just one, instead of two, switch actions of the actuation switch valve.