This paper deals with the mathematical modeling and control of a pneumatic drive for accurate positioning task. A nonlinear dynamic model of the rodless cylindrical actuator with proportional directional control valve is derived, which can be used for the computer simulation analysis. The control algorithms with the state feedback controller based on the linearized model of the system are tested numerically and experimentally on the laboratory model. Our analysis shows that pneumatic drives can be successfully used in practical position control applications.