An apparatus for determining position of a free piston used in such as hydraulic compressor, which has no mechanical connection with crank shaft, and an apparatus for controlling reciprocating motion of the free piston are disclosed. A free piston position determining apparatus comprises a magnetic sensor disposed in a case containing a free piston, and a magnet disposed on the free piston. The magnet sensor generates pulse train when the magnet is positioned within a pre-determined distance form the magnet sensor. Stroke of the free piston is computed based on duration of the pulse, and offset of the average piston position from designed average position is computed based on interval of the pulse.