Abstract: A method to adjust the angular position of a camshaft, which is related to the arc of a crankshaft rotation, to a setpoint angular position with the help of a final controlling element that is triggered by an actuating signal from a controlling device that becomes operational when a control program is run. The final controlling element is able to be triggered in each case by one of three values of the actuating signal; the re-adjustment rate (v.sub.-- ESTIMATED) of the camshaft is estimated for its level at the beginning of the subsequent program run; from this re-adjustment rate and the known time response (c, v.sub.-- END) of the camshaft re-adjustment, after the switch is made to the actuating signal from the hold value, a special adjustment angle (.alpha..sub.-- ESTIMATED+) is estimated; and the change is already made from the early or late value of the actuating signal to its hold value when the deviation between the adjustment angle (.alpha..sub.