A practical simple control design method for the motion control of pneumatic servo systems is proposed. The proposed control is robust for the change of a plumbing route from the control valve to the pneumatic actuator. That leads to much smaller magnitude of a din and vibration that are generated by control valves. It means that the proposed pneumatic servo systems can be used as an actuator of the equipment that is used in a medical and welfare facilities. The experimental results are shown to confirm, the effectiveness of the proposed design scheme.