<p>The application of fully variable valve technology to a free-piston engine can further improve efficiency and flexibility, which makes precise control of the valve train essential. This paper presented an electromagnetic fully variable valve train, which was driven by an electromagnetic linear actuator with a magnetorheological buffer. In order to realize precise valve control, a novel cooperative control scheme was proposed. A detailed nonlinear model was first developed that considered key factors such as the gas force, the electromagnetic force, and the friction force. Then the model was decoupled and linearized using the feedback linearization technique to transform the system into a linear framework suitable for robust control. Subsequently, a dual-layer control strategy combining feedback linearization H∞ robust control and polymorphic control was proposed. In addition, a disturbance observer was designed to estimate uncertain external disturbances and provide feedforward compensation. The results confirm the superiority of the proposed control method, with the valve transition time kept within 4 ms and the valve seating velocity effectively suppressed.</p>