This paper deals with a hybrid actuator composed by a piezo and a hydraulic part and with a switching Model Predictive Control (MPC) Structure for camless engine motor applications. In a precision 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 MPC utilized to manage the hysteresis nonlinearity. Simulations with real data are shown.