An internal combustion engine has at least one actuator which influences the gas exchange in the corresponding cylinder. The position of the first actuator(s) is varied and in given controlled positions, measured parameters for determining a first and further estimated parameters are recorded, whereby the first and/or further estimated parameters are determined from an estimated value or a measured value for the position of the first actuator(s) and a correction value for the estimated value or the measured value for the position determined. An optimisation procedure is carried out by means of which deviations of the first estimated parameter from the further estimated parameters for all given controlled positions are minimised by a matching of the correction value for the estimated value or measured value for the position. In the wider operation of the internal combustion engine, at least one set parameter is determined for control of the first actuator(s) and/or the further actuators dependent on at least one estimated parameter, which is dependent on an estimated value or a measured value for the position of the first actuator(s) and is also dependent on the correction value of the estimated value or measured value for the position.