An actuator control method, using time optimal control and also comprising: a calculation step of calculating a switching time at which an acceleration output is switched to a deceleration output, and an end time of the deceleration output expressed by an elapsed time from a calculation time at which calculation for control is performed using a maximum acceleration (αp) and a maximum deceleration (αm) at the time of a maximum output of a control force of an actuator, which are previously measured; a control output step of setting the control force of the actuator as a maximum acceleration output from the calculation time to the switching time, setting the control force of the actuator as a maximum deceleration output from the switching time to the end time, and ending the output of the control force at the end time; an update step of repeating the calculation step for each preset time by inputting a deviation X of the target variable and the controlled variable at each time of the control, and calculating and updating the switching time and the end time; and a control output reduction step of reducing the control output along with decrease of the residual energy is provided, wherein the residual energy is a sum of remaining work and kinetic energy of a control system, wherein the remaining work of the control system is given by acceleration (α2) * deviation * mass of the control system (m), and the kinetic energy of the control system is given by (1/2) ∗ mass of the control system (m) * (velocity) 2, wherein mass of the control system (m) is given by actuator maximum thrust force/acceleration (α2), wherein acceleration (α2) is the maximum deceleration (αm) or the maximum acceleration (αp) from the switching time to the end time. a calculation step of calculating a switching time at which an acceleration output is switched to a deceleration output, and an end time of the deceleration output expressed by an elapsed time from a calculation time at which calculation for control is performed using a maximum acceleration (αp) and a maximum deceleration (αm) at the time of a maximum output of a control force of an actuator, which are previously measured; a control output step of setting the control force of the actuator as a maximum acceleration output from the calculation time to the switching time, setting the control force of the actuator as a maximum deceleration output from the switching time to the end time, and ending the output of the control force at the end time; an update step of repeating the calculation step for each preset time by inputting a deviation X of the target variable and the controlled variable at each time of the control, and calculating and updating the switching time and the end time; and a control output reduction step of reducing the control output along with decrease of the residual energy is provided, wherein the residual energy is a sum of remaining work and kinetic energy of a control system, wherein the remaining work of the control system is given by acceleration (α2) * deviation * mass of the control system (m), and the kinetic energy of the control system is given by (1/2) ∗ mass of the control system (m) * (velocity) 2, wherein mass of the control system (m) is given by actuator maximum thrust force/acceleration (α2), wherein acceleration (α2) is the maximum deceleration (αm) or the maximum acceleration (αp) from the switching time to the end time.