An electronically controlled, electric motor-driven valve actuator, comprising: an electronic controller; an electric motor configured to cause a linear or rotational actuation of a valve according to a motor input received from the electronic controller, whereby application of said motor input to said electric motor determines a motor output force or torque that causes a valve force or torque to be applied to apparatus external to the actuator and in mechanical communication with the valve; and a torque sensor (110, 112) configured to measure a sensed force or torque that is related to the valve force or torque; said electronic controller being configured to: A) store a motor configuration parameter set and a valve control requirement, wherein said valve control requirement includes a required force or torque to be applied to the valve; B) according to the stored motor configuration parameter set, determine a predicted motor input that, when applied to the electric motor, is predicted to cause the required force or torque to be applied to the valve; C) determine a predicted sensed force or torque that will be measured by the torque sensor when the required force or torque is applied to the valve; D) apply the predicted motor input to the electric motor; E) receive from the torque sensor a measured sensed force or torque; F) compare the measured sensed force or torque with the predicted sensed force or torque; and G) if a difference between the measured sensed force or torque and the predicted sensed force or torque exceeds a specified limit, modify the stored motor configuration parameter set according to the difference between the measured sensed force or torque and the predicted sensed force or torque. an electronic controller; an electric motor configured to cause a linear or rotational actuation of a valve according to a motor input received from the electronic controller, whereby application of said motor input to said electric motor determines a motor output force or torque that causes a valve force or torque to be applied to apparatus external to the actuator and in mechanical communication with the valve; and a torque sensor (110, 112) configured to measure a sensed force or torque that is related to the valve force or torque; said electronic controller being configured to: A) store a motor configuration parameter set and a valve control requirement, wherein said valve control requirement includes a required force or torque to be applied to the valve; B) according to the stored motor configuration parameter set, determine a predicted motor input that, when applied to the electric motor, is predicted to cause the required force or torque to be applied to the valve; C) determine a predicted sensed force or torque that will be measured by the torque sensor when the required force or torque is applied to the valve; D) apply the predicted motor input to the electric motor; E) receive from the torque sensor a measured sensed force or torque; F) compare the measured sensed force or torque with the predicted sensed force or torque; and G) if a difference between the measured sensed force or torque and the predicted sensed force or torque exceeds a specified limit, modify the stored motor configuration parameter set according to the difference between the measured sensed force or torque and the predicted sensed force or torque. A) store a motor configuration parameter set and a valve control requirement, wherein said valve control requirement includes a required force or torque to be applied to the valve; B) according to the stored motor configuration parameter set, determine a predicted motor input that, when applied to the electric motor, is predicted to cause the required force or torque to be applied to the valve; C) determine a predicted sensed force or torque that will be measured by the torque sensor when the required force or torque is applied to the valve; D) apply the predicted motor input to the electric motor; E) receive from the torque sensor a measured sensed force or torque; F) compare the measured sensed force or torque with the predicted sensed force or torque; and G) if a difference between the measured sensed force or torque and the predicted sensed force or torque exceeds a specified limit, modify the stored motor configuration parameter set according to the difference between the measured sensed force or torque and the predicted sensed force or torque.