{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T15:58:22Z","timestamp":1777910302435,"version":"3.51.4"},"reference-count":38,"publisher":"SAGE Publications","issue":"3","license":[{"start":{"date-parts":[[2016,10,7]],"date-time":"2016-10-07T00:00:00Z","timestamp":1475798400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2018,2]]},"abstract":"<jats:p>This paper presents a comparative study between a sliding mode controller and a fractional order sliding mode controller applied to the problem of trajectory control of a ball in a ball and plate system. The ball and plate system is a well-known benchmark to test advanced control strategies because of its multivariable nonlinear coupled dynamics, open loop instability, parameter uncertainty, and under actuation. A cascaded sliding mode controller is initially designed to mitigate the problem. Furthermore, to improve the performance, a cascaded fractional order sliding mode controller is proposed. The proposed control strategies are experimentally validated on a ball and plate laboratory setup (Feedback Instruments Model No. 033-240). Simulation and experimental studies reveal that the fractional order sliding mode controller outperforms the sliding mode controller in terms of tracking accuracy, speed of response, chattering effect, and energy efficiency.<\/jats:p>","DOI":"10.1177\/0142331216663826","type":"journal-article","created":{"date-parts":[[2016,10,7]],"date-time":"2016-10-07T21:50:09Z","timestamp":1475877009000},"page":"701-711","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":21,"title":["Cascaded fractional order sliding mode control for trajectory control of a ball and plate system"],"prefix":"10.1177","volume":"40","author":[{"given":"Prasanta","family":"Roy","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, NIT Silchar, India"}],"role":[{"role":"author","vocab":"crossref"}]},{"given":"Arindam","family":"Das","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, NIT Silchar, India"}],"role":[{"role":"author","vocab":"crossref"}]},{"given":"Binoy Krishna","family":"Roy","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, NIT Silchar, India"}],"role":[{"role":"author","vocab":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2016,10,7]]},"reference":[{"key":"bibr1-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(01)00062-9"},{"key":"bibr2-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2013.04.009"},{"key":"bibr3-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2020670"},{"key":"bibr4-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.10.075"},{"key":"bibr5-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1002\/asjc.711"},{"key":"bibr6-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-20545-3"},{"key":"bibr7-0142331216663826","doi-asserted-by":"publisher","DOI":"10.5220\/0005569804120419"},{"key":"bibr8-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2016.03.003"},{"key":"bibr9-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/S0165-0114(03)00135-0"},{"key":"bibr10-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2013.6739804"},{"key":"bibr11-0142331216663826","volume-title":"Ball and Plate Control System Manual for Model No. 33-240 Using LabVIEW","author":"Feedback-Instruments","year":"2011"},{"key":"bibr12-0142331216663826","volume-title":"Sliding Modes after the First Decade of the 21st Century","author":"Fridman L","year":"2011"},{"key":"bibr13-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/CHICC.2008.4605473"},{"key":"bibr14-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1080\/02533839.2007.9671274"},{"key":"bibr15-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2003.1290810"},{"key":"bibr16-0142331216663826","first-page":"142","volume-title":"2nd international Asia conference on informatics in control, automation and robotics (CAR)","volume":"3","author":"Liu H","year":"2010"},{"key":"bibr17-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.cnsns.2011.08.042"},{"key":"bibr18-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84996-335-0"},{"key":"bibr19-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2007.08.006"},{"key":"bibr20-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2010.03.023"},{"key":"bibr21-0142331216663826","volume-title":"The Fractional Calculus: Theory and Application of Differentiation and Integration to Arbitrary Order","author":"Oldham KB","year":"1974"},{"key":"bibr22-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/SAMI.2015.7061869"},{"key":"bibr23-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.839231"},{"key":"bibr24-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/81.817385"},{"key":"bibr25-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/ICRoM.2015.7367775"},{"key":"bibr26-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/S0957-4158(02)00039-9"},{"key":"bibr27-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2013.6618138"},{"key":"bibr28-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/9.739144"},{"key":"bibr29-0142331216663826","first-page":"53","volume-title":"Proceedings of fourth international conference on soft computing for problem solving: SocProS","volume":"2","author":"Roy P","year":"2014"},{"key":"bibr30-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2016.01.002"},{"key":"bibr31-0142331216663826","volume-title":"Sliding Mode Control and Observation","author":"Shtessel Y","year":"2010"},{"key":"bibr32-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.compeleceng.2015.04.012"},{"key":"bibr33-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.neucom.2012.12.019"},{"key":"bibr34-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2015.03.020"},{"key":"bibr35-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.isatra.2013.11.011"},{"key":"bibr36-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.10.027"},{"key":"bibr37-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2008.0540"},{"key":"bibr38-0142331216663826","doi-asserted-by":"publisher","DOI":"10.1109\/ChiCC.2015.7259759"}],"container-title":["Transactions of the Institute of Measurement and Control"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331216663826","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0142331216663826","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0142331216663826","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T14:54:13Z","timestamp":1777647253000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0142331216663826"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,10,7]]},"references-count":38,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2018,2]]}},"alternative-id":["10.1177\/0142331216663826"],"URL":"https:\/\/doi.org\/10.1177\/0142331216663826","relation":{},"ISSN":["0142-3312","1477-0369"],"issn-type":[{"value":"0142-3312","type":"print"},{"value":"1477-0369","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,10,7]]}}}