A Fractional ModelforIPMCActuators

Thepaperproposes anewmodel forIPMCactuators, basedonnon-integer order models. IPMCsareveryinteresting because oftheir capability totransform electrical energy into mechanical energyandvice-versa, makingthemparticularly attractive forpossible applications indifferent fields, suchas robotics, aerospace, biomedicine, etc. Recently a greatinterest hasbeendevoted tonon-integer, or fractional, order systems because they well modelalotofphysical systems. An experimental setuphasbeenrealized tostudy theIPMCs behavior andan algorithm hasbeendeveloped inMatlabR Environment toidentify afractional order model ofIPMCactuators.