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Traditionally the positioning of pneumatic actuators has been limited to movement between preset stops or switches. The restricting factors preventing the use of pneumatic cylinders for accurate servo-control arise from highly nonlinear dynamic properties such as air compressibility and friction effects, which combine to severely degrade time response and positional accuracy. Many real systems are influenced by external gravity forces, which compound the problem of position control. Adoi:10.1109/87.911384 fatcat:hculryn6znb2dogslda27aiytq