In a method and a device for controlling an actuator, the first setpoint value for the position of the actuator is predefined. A change in the setpoint value for the control of the actuator to the first setpoint value is limited to a first setpoint value change limitation. For the reaching of the first setpoint value, a second setpoint value is predefined. A change in the setpoint value for the position of the actuator to the second setpoint value is limited to a second setpoint value change limitation. If the actual value of the change of the setpoint value to the first setpoint value using the first setpoint value change limitation would be greater than the change of the setpoint value to the second setpoint value using the second setpoint value change limitation, the first setpoint value is predefined for the setpoint value and the change in the setpoint value for the control of the actuator to the first setpoint value is limited according to the first setpoint value change limitation.