The paper is devoted to the control of electromagnetic actuators. Compared to most results in the literature, the design explicitly takes into account the nonlinearities and the magnetic saturation. An approach based on singularly perturbed systems is proposed to take advantage of the different time scales of the model and provide a minimal complexity control law. Associated with an integral action, this control law ensures accuracy and robustness w.r.t some disturbances and some unknown parameters of the actuator. The use of the singular perturbation method allows also to limit the implementation complexity compared to classical methods such as backstepping control. The synthesis of the control law is then tested through simulations that illustrate the efficiency of the method.