In this paper a fractional order transfer function, identified from experiential data, is used to model IPMC actuators. The IPMC model is scaled as a function of the actuator length. Two different control approaches are proposed and compared; the first one based is a parameterized controller designed with a classical frequency domain strategy, while the second is designed by using a robust control approach.
A comparison between robust and parameterized controllers for fractional order modeled ionic polymeric metal composite actuator
CAPONETTO, Riccardo;GRAZIANI, Salvatore;
2013-01-01
Abstract
In this paper a fractional order transfer function, identified from experiential data, is used to model IPMC actuators. The IPMC model is scaled as a function of the actuator length. Two different control approaches are proposed and compared; the first one based is a parameterized controller designed with a classical frequency domain strategy, while the second is designed by using a robust control approach.File in questo prodotto:
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