  This paper presents a comprehensive mathematical model of a servopneumatic
system, aimed at its consolidation in literature. The work exploits system's
friction forces, temperature and pressure evolution, heat transfer, leakage
between chambers and environment, equilibrium of cylinder forces, resistance of
the pipes, mass flow rate in valve output, varying area of valve orifices and
equilibrium of valve forces. Numerical simulations are performed, where
system's elastic behaviour due to the air compressibility is thoroughly
exploited.
