In order to improve the energy efficiency of multi-actuator pneumatic systems, a control scheme for the recovery of exhausted compressed air is designed and studied herein. This paper explains the procedure for the development of the balanced operation of a multi-actuator pneumatic system through the collection and reuse of exhausted compressed air. Compared with traditional motion control of pneumatic actuators, significant energy savings can be achieved, while the dynamic behavior of the cylinders from which the exhausted air is collected is maintained.