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The MOCOPHYS team develops dynamic modeling and robust control methods for complex linear and nonlinear systems. Using an energy-based approach, we investigate the interactions between multiphysics subsystems and their environment. Our research spans lumped and distributed parameter systems, encompassing both physics-based and data-driven physics-informed modeling, numerical tool development, and control implementation. Applications include systems driven by electric fields, such as electro-active polymer actuators (IPMC, piezoelectric, HASEL, DEA) and contactless manipulation platforms based on dielectrophoresis, as well as irreversible thermodynamic systems.