A Nonlinear Model for IPMC Actuators

In this section we present a nonlinear circuit model for IPMC actuators. A key component of the circuit is the nonlinear capacitance, derived based on the original PDEs governing the ion dynamics. In addition, the circuit includes ion diffusion resistance [Bonomo et al. (2007) Porfiri (2008)], pseu- 

17 The sensing response of the Big-2 sample under a step stimulus (a) The tip displacement trajectory (b) prediction of the sensing response versus experimental measurement. Reprinted from [Chen et al. (2007b)]. 

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