This paper deals with the control of an electro-pneumatic servodrive for translational task. In order to obtain approximate model of the pneumatic servosystem the off-line identification procedure in closed-loop from experimental measured data has been made. The real discrete-time control system has been presented with pseudo-continuos-time (PCT) system for the sake of the simplification of the dynamic synthesis. The simulation results from the identified model and PCT system are compared with experimental measured system output on varying reference signal.