Japan is becoming a super-aging society, with a population decrease and a shortage of young workers. Mechanisms using pneumatic cylinders are therefore expected to be useful to perform tasks such as day-to-day work support for elderly people. However, pneumatic cylinder includes large dead time. Thereby, traditional control system is complex, such as adding Smith compensation. Therefore, we use Predictive Functional Control (PFC). This control system is not complex even if plant includes dead time. This study evaluates the performance of force and position control systems using a pneumatic cylinder and PFC. We compare the PFC scheme with the PID control and show that PFC achieves better performance than PID control.