This paper develops a systematic methodology for the control of a class of nonlinear systems and applies it to electropneumatic system. It deals with multiple input-multiple ouput (MIMO) systems in the strict feedback form. The approach is conceptually similar to previously developed integrator backstepping methodologies. However, unlike some previous investigations which have relied exclusively on a Lyapunov analysis, this work presents a stability analysis using a passivity formulation. First, the nonlinear model of the electropneumatic system is presented. A class of modeling error is introduced and compensated for with the resulting control able to guarantee specified boundary layer tracking. Then, the control algorithm is implemented on the pneumatic system. Finally, experimental results are presented and discussed.