A scalable fractional order model for IPMC actuators

IPMCs are a novel class of composite materials capable of electromechanical reversible transduction. It has been suggested in literature that they can be modeled by using fractional transfer functions. In this paper a gray box approach is used to identify IPMC actuators. Moreover the proposed transfer functions are ruled by using the device geometrical parameters, in such a away to guarantee the control of the transducer behavior during the design phase. Experimental validation of the proposed approach is reported.