Method of compensating for play in an actuation system including an actuated system comprising an elastic element, and an actuator with a motor having at least one electrical phase, the motor being a stepper motor or a permanent magnet synchronous (PMS) brushless direct current (BLDC) motor, the method comprising: - supplying by means of a current controller said at least one electrical phase with a first limited phase current configured to drive the rotor of the stepper motor, or configured to drive in open loop stepper mode the rotor of the BLDC motor, in a first direction (X+), said limited phase current having an amplitude inferior to an operational phase current needed to drive the rotor in normal load operation for actuation of the actuated system in said first direction, - driving with a second limited phase current the rotor of the stepper motor, or driving in open loop stepper mode with a second limited phase current the rotor of the BLDC motor, in a second direction (X-) opposite to the first direction, said second limited phase current having an amplitude inferior to an operational phase current needed to drive the rotor in normal load operation sufficient to overcome the spring force of said elastic element of the actuated system for actuation of the actuated system in the second direction, - compensating for mechanical play in the actuation system based on first and second ends of mechanical play positions, the method characterized by : - detecting a loss of steps of the stepper or BLDC motor in said first direction and determining therefrom the first end of mechanical play position, - detecting a loss of steps of the stepper or BLDC motor in said second direction and determining therefrom the second end of mechanical play position. - supplying by means of a current controller said at least one electrical phase with a first limited phase current configured to drive the rotor of the stepper motor, or configured to drive in open loop stepper mode the rotor of the BLDC motor, in a first direction (X+), said limited phase current having an amplitude inferior to an operational phase current needed to drive the rotor in normal load operation for actuation of the actuated system in said first direction, - driving with a second limited phase current the rotor of the stepper motor, or driving in open loop stepper mode with a second limited phase current the rotor of the BLDC motor, in a second direction (X-) opposite to the first direction, said second limited phase current having an amplitude inferior to an operational phase current needed to drive the rotor in normal load operation sufficient to overcome the spring force of said elastic element of the actuated system for actuation of the actuated system in the second direction, - compensating for mechanical play in the actuation system based on first and second ends of mechanical play positions, - detecting a loss of steps of the stepper or BLDC motor in said first direction and determining therefrom the first end of mechanical play position, - detecting a loss of steps of the stepper or BLDC motor in said second direction and determining therefrom the second end of mechanical play position. <EOS>