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In this article, a soft pneumatic actuator that reshapes in the x\u2013y plane is controlled. This continuous soft robot uses air pressure as actuation to control the end point position of the robot through curvature motion, and the force applied to a load cell. System identification approaches are used to model the behavior of the soft actuator, simulate time response, and design a suitable controller. After modeling the behavior of the actuator, a cascaded control strategy is used to control the robot. To increase precision in tracking control, using the Prandtl\u2013Ishlinskii (P-I) method, existing hysteresis in the response of the system is measured, simulated, and then compensated using the inverse P-I method. The performance of the system, in the presence of the designed control architecture, is simulated and implemented on an experimental setup in the laboratory. Finally, tracking results are presented and compared for this soft actuator.<\/jats:p>","DOI":"10.1089\/soro.2019.0065","type":"journal-article","created":{"date-parts":[[2020,4,22]],"date-time":"2020-04-22T14:07:58Z","timestamp":1587564478000},"page":"550-563","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":62,"title":["Position and Force Control of a Soft Pneumatic Actuator"],"prefix":"10.1177","volume":"7","author":[{"given":"Peyman","family":"Abbasi","sequence":"first","affiliation":[{"name":"Faculty of Electrical Engineering, Department of Control Engineering, K. N. Toosi University of Technology, Tehran, Iran."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammad Ali","family":"Nekoui","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering, Department of Control Engineering, K. N. 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