This paper presents an integrated sensor/actuator device with multi-input and multi-output designed on the basis of a standard control representation called a distributed port-Hamiltonian system. The device is made from soft material called an ionic polymer-metal composite (IPMC). The IPMC consists of a base film of a polyelectrolyte gel and a double layer of plated metal electrodes. The electrodes of the experimental IPMC are sectioned, and it is implemented as a control system with four pairs of inputs/outputs. We stabilize the system, and detect changes in dynamics by using the control representation.
metrischer Form dureh galvanisehe tlberziige. (?¢Ie-talloberfl~iehe 15, 357-361, 1961.) Die Einebnung durch galvanische Lrberzfige wird auf einfaehe ~Veise rechnerisch behandelt.Zur Berechnung der Eiaebnung wird folgende Formel vorgesehlagen:E --~ rd2--dl " 100 in %.
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