A control system for internal combustion engines having four valves per cylinder. An inlet valve and an exhaust valve are controlled by a basic camshaft. Another inlet valve and another exhaust valve are controlled by a control camshaft. The two camshafts are connected to a crankshaft and engine torque is managed by an electronic control unit. The system comprises a motor/generator unit, connected to the control camshaft; a differential, connected to the crankshaft and to the control camshaft; a control shaft, connected to the differential; an actuator, connected to the control shaft; a one-way restrictor valve connected to a shut-off valve and to the actuator; an oil circuit, connected to the actuator by means of the shut-off valve and a control solenoid that acts on the shut-off valve.