In this paper a pressure fault recognition and its compensation in a controlled hybrid actuator are proposed. The hybrid actuator consists of a piezo mechanical structure and a hydraulic stroke displacement ratio for adapting the position of the servo piston to be used in a camless engine. Because of the presence of two sealings, a possible pressure failure can occur. An adaptive Feedforward control strategy in combination with Feedback control to track a periodic signal is considered. After the detection of the pressure fault its compensation is possible through this adaptive Feedforward control. Measured results carry out the suitability of the control approach together with the pressure fault recognition and its compensation.