• Composites Research
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• v.28 no.6
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• pp.383-388
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• 2015

Ionic Polymer-Metal Composite (IPMC) consisting of soft membrane plated by platinum electrode layers on both surfaces generates electric energy when subjected to various mechanical stimuli. The paper proposes a circuit model that describes the physical composition of IPMC to predict the voltage generation characteristic corresponding to bending motion. The parameter values in the model are identified to minimize the RMS error between the real and simulated outputs. Following the design of IPMC circuit model, the state observer of the model is designed by using pole placement technique which improves the model accuracy. State observer design technique is also applied to find the inverse model which estimates the input bending angles from the output voltage data. The results show that the inverse model estimates input bending angles fairly well enough for the further applications of IPMC not only as an energy harvester but also as a bending sensor.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.1
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• pp.6-13
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• 2002

This paper deals with the linear matrix inequality (LMI) design procedures for multi-objective Η$_2$/Η$_{\infty}$ controllers with pole-placement constraints for an inverted pendulum system modeled as convex polytopes to ensure the stabilizing regulator and tracking performances. Polytopic models with multiple linear time-invariant models linearized at some operating points are derived to design controllers overcoming the conservativeness such as a controller may have when it is designed for a model linearized at a single operating point. Multi-objective controllers are designed for polytopic models by the LMT design technique with convex algorithms. It is observed that the inverted pendulum controlled by any controller designed for each polytopic model is stabilizingly restored to the vertical angle position for initial values of larger tilt anlges.