This study investigates the dynamic behavior of a pneumatic actuator system regulated by on-off solenoid valves through both experimental testing and numerical simulation. A dedicated test rig is developed, incorporating a pneumatic cylinder operated by a configuration of four binary-state pneumatic solenoid valves. The operational characteristics of the cylinder, including position and pressure within the cylinder chambers, are investigated and analyzed under different velocity operating modes. The system’s mathematical representation is formulated by integrating the flow dynamics, mass conservation principle, force balance equation, and an enhanced version of the LuGre friction model. A simulation environment was implemented in Matlab/Simulink to reproduce the dynamic behavior of the cylinder under conditions identical to those in the experimental setup. The alignment between simulated and measured results confirms the validity of the proposed mathematical model.