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Advances in Mathematical Physics
Volume 2013, Article ID 717659, 6 pages
Research Article

An Enhanced Fractional Order Model of Ionic Polymer-Metal Composites Actuator

Dipartimento di Ingegneria Elettrica Elettronica ed Informatica, University of Catania, Viale A. Doria 6, 95125 Catania, Italy

Received 11 May 2013; Accepted 17 July 2013

Academic Editor: J. A. Tenreiro Machado

Copyright © 2013 R. Caponetto et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Ionic polymer-metal composites (IPMCs) are electroactive polymers which transform the mechanical forces into electric signals and vice versa. The paper proposes an enhanced fractional order transfer function (FOTF) model for IPMC membrane working as actuator. In particular the IPMC model has been characterized through experimentation, and a more detailed structure of its FOTF has been determined via optimization routines. The minimization error was attained comparing the simple genetic algorithms with the simplex method and considering the error between the experimental and model derived frequency responses as cost functions.