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Exhaust Gas Recirculation (EGR) is widely used in automotive industry. This paper describes a model responsible for conventional electro-pneumatic EGR valve actuator, part of an EGR system. It is intended to keep relatively simple, decoupled with respect to some engine phenomena, better oriented towards validating control laws. Special attention is payed to solenoid-actuator servomechanism subpart, by actually comparing, in simulation, a variety of linear and proposed nonlinear feedback control laws. The goal is to find full-state (locally) optimal controllers, in terms of performance, robustness, complexity and cost.