In this paper, a trajectory planning-based energy-optimal method is proposed to reduce the energy consumption of novel electromagnetic valve train (EMVT). Firstly, an EMVT optimization model based on state equation was established. Then, the Gauss pseudospectral method (GPM) was used to plan energy-optimal trajectory. And a robust feedforward-feedback tracking controller based on inverse system method is proposed to track the energy-optimal trajectory. In order to verify the effectiveness of the energyoptimal trajectory, a test bench was established. Finally, co-simulations based on MATLAB Simulink and AVL Boost were carried out to illustrate the effect of energyoptimal trajectories on engine performance. Experimental results show that the robust tracking controller can achieve good position tracking performance. And these energyoptimal trajectories can save up to 40% of the energy consumption compared with the conventional camshaft valve trajectories.