In a method and device for performing tilt control, a focus and a tilt controlling output is generated, and a focusing and tilt state of an optical recording/reproducing beam is controlled by determining a radial tilt value based on a differentiation of focus control values obtained at different radii of said optical disk (1). The combination of, e.g., a 3D actuator with the dz/dr tilt measurement provides the advantage that focus and tilt adjustment can be performed in the same element. Thereby, influences or measurement variations caused by environmental conditions and/or circuit characteristics can be minimized to reduce compensations requirements. Furthermore, a 3D actuator (11) with a split coil arrangement may be used to provide a three-dimensional focus adjustment. Thereby, the 3D actuator (11) can be used for feed-forward tilt compensation without offset or gain errors and without any additional sensor.