The X-Y position control of pneumatic systems has several applications such as (CNC equipment, Pick-and-Place Systems, Material Handling, and Inspection Systems). This paper deals with experimental work of X-Y pneumatic test rig for positioning control purpose, for controlling the position of the pneumatic cylinders two controller algorithms are used in this paper. The first control is a new Approaching Index Switching Algorithm (AISA) for controlling the position of the pneumatic system the second controller is Proportional -derivative (PD) controller. AISA is designed to switch between two different sets of controls based on an index value. The control of the flow rates by Flow Control Valve (FCV), control of servomotor, and also the control of the position sensor is a key parameter in determining the performance of the pneumatic cylinder position. It depends on the goals and mission requirements for launching it. The experimental results show that the AISA is faster than the PD controller by (31.8 % to 38.15%) without overshooting for X-axis and Y-axis respectively. The ASIA is more accurate than the PD controller by (83.33% to 70.79%) for X-axis and Y-axis respectively. All the desired specifications of the system such as error, stability, and power consumption are robustly satisfied under AISA.