In this study, a robust controller to control pressure in a pneumatic pressure vessel considering dynamic characteristics of pneumatic transmission line is proposed. Dynamic characteristics of transmission line using compressible fluid is changed by the flowing states of the fluid. So, if the fixed gain controller is designed based on a fixed model, the performance of the control system could be destabilized or degraded. The controller designed in this study is composed of two parts. The one is to reject modelling error based on the disturbance observer, the other is to obtain the control performance. The control results with the designed controller show that the robustness of the control system is achieved regardless of the change of the model of the transmission line. Therefore, the designed controller can be utilized for the performance improvement of the pressure control system using compressible fluid such as air and gas