A method is for controlling an actuation force exerted by an actuating device having a first working chamber and a second working chamber supplied with pressurized air from a source of pressurized air by a first pressure regulator and a second pressure regulator. The method includes calculating, by an optimization algorithm based on a dynamic model of the actuating device and of the first and second pressure regulators, desired values for control signals for the first and second pressure regulators to generate an actuation force equal to a desired value for the actuation force. An estimated value for the actuation force, estimated values for pressures inside the first and second working chambers and for first derivatives of the pressures, are determined by a state observer based on a measured value for the actuation force and on measured values for the pressures in the first and second working chambers.