In this paper a hybrid actuator is proposed. The hybrid actuator consists of a piezo mechanical structure and a hydraulic ratio displacement. Particular attention is paid to a liquid spring model of the displacement ratio which represents the hydraulic part of the mechanism. The proposed mechanism represents the fundamental part of a more complex one which consists of a supplementary hydraulic part to control intake valves of a combustion engine. The whole mechanism is controlled using a cascade repetitive control combined with a proportional derivative (PD) controller and a feed-forward action to track a periodic signal. Measured results of the closed loop carried out the suitability of the control approach.