This paper deals with a hybrid actuator composed by a piezo and a hydraulic part and with a switching Kalman Filter structure for camless engine motor applications. In the sensorless control problem, nonlinearities such as hysteresis, creep etc. must be taken into account. In this paper the Preisach dynamic model with the above mentioned hysteresis is considered together with a robust switching Kalman Filter utilized as an observer to manage the hysteresis nonlinearity. The control structure is realized using a Model Predictive Control strategy. Simulations with real data are shown.