This paper presents the interest of including control strategy into electropneumatic design. For this certain experimental results obtained in an electropneumatic process have been presented. Using two servo-distributors leads to a system with one degree of freedom. This opportunity is exploited for in two objectives. The first concerns positioning control and the second attempts to optimise energy efficiency. With this aim an energy optimisation algorithm has been presented. The chosen control algorithm issues from the flatness concept. KEY WORDS nonlinear control, flatness, energy saving, electropneumatic.