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              <p>&lt;div&amp;gtIn this paper, the infinite-dimensional port-Hamiltonian modelling and control problem&lt;/div&amp;gt&lt;div&amp;gtof a flexible beam actuated using ionic polymer metal composite (IPMC) actuators is investigated.&lt;/div&amp;gt&lt;div&amp;gtThe port-Hamiltonian framework is used to propose an interconnected control model of the mechanical&lt;/div&amp;gt&lt;div&amp;gtflexible beam and the IPMC actuator. The mechanical flexible dynamic is modelled as a&lt;/div&amp;gt&lt;div&amp;gtTimoshenko beam, and the electric dynamics of the IPMCs are considered in the model. Furthermore,&lt;/div&amp;gt&lt;div&amp;gta passivity-based control-strategy is used to obtain the desired configuration of the proposed interconnected&lt;/div&amp;gt&lt;div&amp;gtsystem, and the closed-loop stability is analyzed using the early lumped approach. Lastly,&lt;/div&amp;gt&lt;div&amp;gtnumerical simulations and experimental results are presented to validate the proposed model and&lt;/div&amp;gt&lt;div&amp;gtthe effectiveness of the proposed control law.&lt;/div&amp;gt</p>
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