It depends on which controller of ours you are using, and what iOS device you have.
Using Apple's iPad Camera Connection Kit you can plug a QuNexus, QuNeo (in iPad mode), 12 Step, or SoftStep directly into the iPad — no Expander needed (external power may be needed for SoftStep, 12 Step, and non-iPad mode QuNeo). The Camera Connection Kit does not work natively with iPhone or iPod, though, if your device is jailbroken there is a package that can unlock this functionality.
If you have a non-jailbroken iPhone or iPod you will need a MIDI Expander in addition to something like the Alesis IO Dock, Line 6's MIDI Mobilizer, or IK Multimedia's iRig MIDI to connect your KMI controller to your iOS device.
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