A method of controlling a valve of a camshaft phaser, comprising determining a control deviation from a position error and an error gradient; a fuzzy gain value is calculated from the control deviation and a correction term; a control variable value is calculated from an integral gain value and the fuzzy gain value; and controlling the valve of the camshaft phaser based on the controlled variable value, wherein the correction term is calculated based on an engine oil temperature and an engine speed.
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