This work proposes a feedback linearization control algorithm to be applied to a pneumatic positioning system. Such algorithm aims to compensate the undesirable effects due to the highly nonlinear dynamic behavior of such type of actuator. A mathematical model of the system is presented and the proposed controller is described. Besides, an analysis is provided of the convergence properties of the closed-loop tracking errors of the system when such controller is used. The main features of the proposed controller are illustrated by means of experimental results and respective discussions.