The discovery of conducting polymers by MacDiarmid, Shirakawa and Heeger in 1977 has generated enormous interest in π-conjugated macromolecules.[1] Since then, their unique properties such as the metal-insulator transition induced by doping-undoping process, controllable optoelectronic property through molecular design and attractive mechanical properties and processing advantages have stimulat...

Conducting polymer (CP) actuator has nonlinear dynamic characteristics during its charge process. In this study, we proposed an electromechanic model and optimal controller for a type of ionic electroactive (IEPA) with submillimeter scale, which can produce large deformation under low actuation voltage. The electronic is to describe the evolution state in time domain. mechanic calculate CP forc...