This thesis presents a solution or the problem of automatic precise positioning of na object in the horizontal plane, not generating any significative magnetic field in the region close to the object to be positioned. The study presented was developed as part of an effort to fulfill a necessity for a positioning system for magnetocardiography experimentation in the Magnetism and Applied Supercondutivity Laboratory of the Departament of Physics of this University. A discussion over applicable automation option is presents, along with a justification for a choice of a pneumatic actuating system. The whole precise positioning assembly is described in detail, including subjects such as movement geometry, material, mechanical structures and the digital control system. A mathematical study of the closed of the closed loop position control problem is then developed, aiming to define a control algorithm applicable to the problem. Algebraic analysis is used to describe the influence of Coulomb friction over the equations of motion of a proportional position control system, while a model for simulations experiments of the assembly´s positioning dynamics is developed. These tools are used as the basis for a discussion over the applicability of the PID controlers in the case in study. Moreover, the behavior of the proposed algorithm is recorded and compared to the results of the simulations, showing the correctness and the utility of the theoretical analysis.