This paper proposes a position observer and a velocity estimator of a nonlinear actuator for an application in a sensorless control system for engines. This is realized using a position observer and a velocity estimator combined in a cascade structure. The position observer is designed using a Lyapunov approach as typically done in the nonlinear observer approach. The velocity estimator is realized using the model of a proposed electromagnetic actuator. The Lyapunov-based observer estimates the valve position by using the coil current as an input signal and the estimated valve velocity as an output signal. The results are compared with an extended Kalman filter (EKF) used as an observer and developed for the same application. Moreover, the numerical complexity of the algorithm and the comparison with the developed EKF is also taken into account in the paper. The actuator is controlled using a discrete and analogous proportional derivative (PD) controller combined with a feedforward action to compensate for the stationer error. The final part of this paper contains validations of the proposed observed and controlled strategy by means of real measurements.