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The enhancement of nonlinear PID (N‐PID) controller for a pneumatic positioning system is proposed to improve the performance of this controller. This is executed by utilizing the characteristic of rate variation of the nonlinear gain that is readily available in N‐PID controller. The proposed equation, namely, self‐regulation nonlinear function (SNF), is used to reprocess the error signal with the purpose of generating the value of the rate variation, continuously. With the addition of this function, a new self‐regulation nonlinear PID (SN‐PID) controller is proposed. The proposed controller is then implemented to a variably loaded pneumatic actuator. Simulation and experimental tests are conducted with different inputs, namely, step, multistep, and random waveforms, to evaluate the performance of the proposed technique. The results obtained have been proven as a novel initiative at examining and identifying the …