A method of controlling an actuator includes determining a function of an actuator value based on a cost function index that represents a relationship between a tone reproduction curve error and the actuator value necessary to achieve a tone reproduction curve target, determining an actual tone reproduction curve error from an obtained sample of a tone reproduction curve and controlling the actuator based on the function and actual tone reproduction curve error to move to a point that represents the tone reproduction curve target. A Xerographic system includes an actuator, an input device that inputs the cost function index and a controller that controls the Xerographic system to obtain the sample, determine an actual tone reproduction curve error from the sample, and control the actuator based on the cost function index and the actual tone reproduction curve error to move to a point that represents the tone reproduction curve target.