This project was done in the laboratory of integrated actuators (LAI) during the first master semester. It is part of a PhD-work with linear actuators, also called relays, where these actuators are optimized in design and equipped with a speed control during closure and aperture. The aim of this semester project was to find an optimal control algorithm for the closure of a relay. The relay has to follow a specific speed profile in function of position, so that a certain speed can be guaranteed near the contact closure position. To follow this speed profile, which has been developed by the corresponding company, will decrease electrical and mechanical wearout during closure. In this report, different approaches of control are shown and compared. It is also a report that should help as a guide to develop an optimal control for a specific relay. A final conclusion will give some advices on how to design an optimal control.