Multi-input identification of IP2C actuators

Ionic Polymer-Polymer Composites (IP²Cs) are electro-active polymers which can be used both as sensors and as actuators. In this paper IP²Cs, used as actuators, and with water as the solvent, are modeled. Starting from some previous results regarding modeling of Ionic Polymer Metal Composites (IPMCs) and of IP²Cs themselves, using ethylene glycol (EG) as the solvent, linear and nonlinear black-box models have been identified from experimental data for IP²C actuators. Moreover, models proposed here take into account the dependence of IP²C actuators behavior on environmental temperature and humidity as relevant modifying inputs.