The non-linear model of pneumatic acting system, consisting of proportional directional control valve and symmetric rodless pneumatic cylinder is developed and investigated in this paper. This model enables to evaluate influence of essential nonlinearities concerned with working characteristics of airflow regulating valves and pneumatic cylinders on dynamics of the system. The modeling results of pneumatic acting system under several initial working conditions are presented and discussed in this article. The model reference based adaptive control method of force regulation in electro-pneumatic servo system is proposed and investigated in this paper to. This method allows eliminating of influence of nonlinearities of pneumatic cylinder and directional control valve on behavior of force regulation system. Therefore controllers of higher hierarchy level such as velocity and position controllers can be designed using conventional methods based on quantitative optimum. The modeling results of investigated system are presented in the paper.