Anonlinearfuzzybacksteppingcontrollerispresentedinthispaperforset-pointregulationofaPneumaticMuscleActuator.Inflationanddeflationarethetwopossiblemodesofoperationofthisactuator.Threefuzzysets,oneforeachofbothmodesandoneforthetransitionregionareconsidered.Eachfuzzysetisassociatedwi