This document describes modelling and controlling techniques applied to fluidic muscles systems. Two different systems were studied: MASS-MUSCLE and PULLEYMUSCLES, both here presented, along with the controller designed for the latter. Equations, schematics and graphics help understanding all the steps taken to complete this project. The primary goal was to build a data base for future design of more complex systems, like robotic manipulators. The program codes written to model their dynamic behavior can be directly used in control algorithms developed for real systems containing those elements. Concisely, one may say this project builds the foundations for further - and more practical - applications of fluidic muscles.