This paper presents an investigation into the real-time control of an air motor incorporated with a pneumatic equivalent of the electric H-bridge. The pneumatic H-bridge has been devised for speed and direction control of the motor. A gain scheduling control strategy is adopted to control the motor, characterised by two distinct regions of operation with different characteristics. Local controllers are developed using a pole-assignment design and linear parametric models characterising the two operating regions of the motor. The control strategy is tested with the motor within the two defined regions of operation. Experimental results show that a good level of speed control of the motor is achieved.