Recent Publications

Books and Book Chapters


Nalin Kumar Sharma and S. Janardhanan, "Discrete-TIme Higher Order Sliding Mode - The Concept and the Control", 96 p., Springer, Sep. 2018. ISBN : 978-3-030-00171-1.

Pyare Mohan Tiwari, S. Janardhanan and Mashuq un Nabi, "Rigid Spacecraft Fault-Tolerant Control using Adaptive Fast Terminal Sliding Mode", in Advances and Applications in Sliding Mode Control Systems, Eds. Ahmad Taher and Quan Min Zhu, Studies in Computational Intelligence, Vol. 576, pp. 381-406, Springer, 2015. DOI: 10.1007/978-3-319-11173-5_14.

S. Bhasin, R. Kamalapurkar, M. Johnson, K. G. Vamvoudakis, F. L. Lewis, and W. E. Dixon, "An actor-critic-identifier architecture for adaptive approximate optimal control," in Reinforcement Learning and Approximate Dynamic Programming for Feedback Control, Edited by F.L. Lewis and Derong Liu, Wiley-IEEE Press Computational Intelligence Series, New Jersey, Chapter 12, pp. 258-278, 2013.

S. Janardhanan and N. Satyanarayana, "Multirate Functional Observer based Discrete-time Sliding Mode Control", in Advances in Sliding Mode Control, Eds. B. Bandyopadhyay, S. Janardhanan and S. Spurgeon, Lecture Notes in Control and Information Sciences, Vol. 440, pp. 267-281, Springer-Verlag, Heidelberg, 2013, DOI : 10.1007/978-3-642-36986-5_13.

B. Bandyopadhyay, S. Janardhanan and S. Spurgeon (Eds.), "Advances in Sliding Mode Control - Concept, Theory and Implementation", Ser. Lecture Notes in Control and Information Sciences, Vol. 440, p. 380, Springer-Verlag, Heidelberg, 2013, ISBN 978-3-642-36985-8





Journal Publications


Year : 2019


Nalin Kumar Sharma and S. Janardhanan, "Discrete-time higher-order sliding mode control of systems with unmatched uncertainty", International Journal of Robust and Nonlinear Control, Vol. 29, No. 1, pp. 135-152, Jan. 2019.



Year : 2018


Satnesh Singh and S. Janardhanan, "Stochastic Sliding Mode Control for Parametric Uncertain Systems using Functional Observer", IEEE Transactions on Circuits and Systems II: Express Briefs (doi : 10.1109/TCSII.2018.2878973) (to appear).

S. K. Jha, S. Bhasin, "Adaptive Linear Quadratic Regulator for Continuous-Time Systems with Uncertain Dynamics", IEEE/CAA Journal of Automatica Sinica, 2018 (to appear).

S. K. Jha, S. B. Roy, S. Bhasin, "Direct Adaptive Optimal Control for Uncertain Continuous-Time LTI Systems without Persistence of Excitation", IEEE Transactions on Circuits and Systems II: Express Briefs, 2018 (to appear).

Deepak Patil, Pietro Tesi & Stephan Trenn, "Indiscernible Topological Variations in DAE networks", Automatica, 2018 (accepted).

Prasun Mishra, Ramkrishan Maheshwari & Deepak Patil, "Stabilization of Rotor Flux Oriented Control of Induction Motor with Filter by Active Damping", IEEE Transactions on Industrial Electronics, 2018 (accepted).

Subashish Datta, "Small Signal Stability Criteria for Descriptor Form Power Network Model", International Journal of Control, 2018 (accepted).

J. Mukherjee, S. Roy, I. N. Kar, S. Mukherjee, "A Double-Layered Artificial Delay-Based Approach for Maneuvering Control of Planar Snake Robots", ASME. J. Dyn. Sys., Meas., Control.;141(4):041012-041012-10. doi:10.1115/1.4042033., 2018.

S. B. Roy, S. Bhasin, I. N. Kar, "Composite Adaptive Control of Uncertain Euler-Lagrange Systems with Parameter Convergence without PE Condition", Asian Journal of Control, 2018

S. B. Roy, S. Bhasin, I. N. Kar, "Combined MRAC for Unknown MIMO LTI Systems with Parameter Convergence", IEEE Transactions on Automatic Control, Vol. 63, No. 1, pp. 283-290, 2018.

N. Choudhary, J. Sivaramakrishnan, I. N. Kar, "Sliding Mode Control of Uncertain Fractional Order Systems with Delay", International Journal of Control, 1-19, 2018.

G. P. Prajapat, N. Senroy, I. N. Kar, "Modeling and impact of gear train backlash on performance of DFIG wind turbine system", Electric Power Systems Research 163, 356-364, 2018

Spandan Roy, Sayan Basu Roy and I. N. Kar, "Adaptive-Robust control of Euler-Lagrange systems with linearly parametrizable uncertainty bounds", IEEE Transaction on Control Systems Technology, 2018.

N. K. Sharma, S. Roy, S. Janardhanan, I.N. Kar, "Adaptive Discrete-time Higher Order Sliding Mode", IEEE Transactions on Circuits and Systems II: Express Briefs, 2018.

G. P. Prajapat, P. Bhui, N. Senroy, I. N. Kar, "Modelling and estimation of gear train backlash present in wind turbine driven DFIG system", ET Generation, Transmission & Distribution, 2018.

S. Roy, A. Patel, I. N. Kar, "Analysis and Design of a Wide-Area Damping Controller for Inter-Area Oscillation With Artificially Induced Time Delay", IEEE Transactions on Smart Grid, 2018.

M. M. Rayguru, I. N. Kar, "A singular perturbation approach to saturated controller design with application to bounded stabilization of wing rock phenomenon", Nonlinear Dynamics, 2018.

N. S. Tripathy, I. N. Kar, K. Paul, "Suboptimal robust stabilization of discrete-time mismatched nonlinear system", IEEE/CAA Journal of Automatica Sinica 5 (1), 352-359, 2018.

Satnesh Singh and S. Janardhanan, "Functional Observer based Sliding Mode Control for Linear Discrete-Time Delayed Stochastic Systems", International Journal of Systems Science, Vol. 49, Issue. 9, pp. 1895-1907, 2018.

Gagan Deep Meena and S. Janardhanan, "Taylor-Lie Formulation Based Discretization of Nonlinear Systems", International Journal of Dynamics and Control, Vol. 6, No. 2, pp. 459-467, June 2018.

Pyare Mohan Tiwari, S. Janardhanan and Mashuq un Nabi, "Spacecraft Anti-Unwinding Attitude Control using Second-Order Sliding Mode", Asian Journal of Control, Vol. 20, Issue. 1, pp. 455-468, Jan. 2018.

V. Bokka, A. Dey, S. Sen, "Period-Amplitude Co-variation in Biomolecular Oscillators", IET Systems Biology, 10.1049/iet-syb.2018.0015, 2018.

A. Patel , S. Sen, "Non-normality Can Facilitate Pulsing in Biomolecular Circuits", IET Systems Biology, 10.1049/iet-syb.2018.0008, 2018.

Ameer K. Mulla, Deepak Patil & Debraj Chakraborty, "Computation of the Target State and Feedback Controls for Time Optimal Consensus in Multi-Agent Systems", International Journal of Control, 91:2, 453-469, 2018.



Year : 2017


S. B. Roy, S. Bhasin, I. N. Kar, "Robust Gradient-Based Adaptive Control of Nonlinearly Parametrized Plants", IEEE Control Systems Letters, Vol. 1, No. 2, pp. 352-357, 2017.

H. Dinh, S. Bhasin, R. Kamalapurkar, and W. E. Dixon, "Dynamic Neural Network-Based Output Feedback Tracking Control For Uncertain Nonlinear Systems", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 139, No. 7, pp. 074502-1 - 074502-7, 2017.

Spandan Roy, I. N. Kar and J. Lee, "Toward position-only Time-delay control for uncertain Euler-Lagrange systems: Experiment on wheeled mobile robots", IEEE Robotics and Automation Letters, 2(4),PP. 1925-1932, 2017.

Spandan Roy, I. N. Kar, J. Lee and M. Jin, "Adpative robust Time-delay control for a class of uncertain Euler-Lagrange systems", IEEE Transaction on Industrial Electronics, 2017.

J. Mukherjee, S. Mukherjee and I. N. Kar, "Sliding mode control of planner snake robot with uncertainty using virtual holonomic constraints", IEEE Robotics and Automation Letters, PP. 1077-1084, 2017.

G. P. Prajapat, N. Senroy, I. N. Kar, "Wind turbine structural modeling considerations for dynamic studies of DFIG systems", IEEE Trans. on Sustainable Energy,Vol.8, No.4, October, 2017.

Spandan Roy, S. Nandy, I . N. Kar, R. Ray and S. N. Shome, "Robust control of nonholonomic wheeled mobile robot with past information: Theory and experiment", Journal of Systems and Control Engineering, Vol. 23(3), PP. 178-188, 2017.

N. S. Gayathri, N. Senroy and I. N. Kar, "Smoothing of wind power using flywheel energy storage system", IET Renewable Power Generation, Vol. 11(3), PP-289-298, 2017. IET Renewable Power generation, Vol. 11(3), PP. 289-298, 2017.

N. S. Tripathy, I. N. Kar and K. Paul, "Stabilization of uncertain discrete-time linear system with limited communications", IEEE Trans. on Automatic Control,Vol. 62, No. 9, pp.4727-4733, September 2017 .

Meraj Ahmed, D. Ravi Kumar, M. Nabi, "Enhancement of Formability of AA5052 Alloy Sheets by Electrohydraulic Forming Process", Journal of Materials Engineering and Performance (Springer), vol 26, Issue 1, pp. 439-452, 2017, (doi: 10.1007/s11665-016-2446-0)

Niraj Choudhary, S. Janardhanan and I N Kar, "Analysis of multi-dimensional time delay systems using Lambert W function", Journal of Dynamic Systems, Measurement and Control, Vol. 139, No. 11, pp. 114506-114506-6, Nov. 2017.

Nalin Kumar Sharma and S. Janardhanan, "Optimal Discrete Higher-order Sliding-mode Control of Uncertain LTI Systems with Partial State Information", International Journal of Robust and Nonlinear Control, Vol. 27, Issue. 17, pp. 4104-4115, Nov. 2017.

Satnesh Singh and S. Janardhanan, "Sliding Mode Control based Linear Functional Observers for Discrete-time Stochastic Systems", International Journal of Systems Science, Vol. 48, Issue. 5, pp. 3246-3253, Aug. 2017.

Rajashree Taparia, S. Janardhanan and Rajeev Gupta, "Management of Inventory for Periodically Reviewed Goods Using Discrete Higher Order Sliding Mode", IETE Journal of Research, Vol. 63, No. 4, pp. 552-557, 2017.

Nalin Kumar Sharma and S. Janardhanan, "Discrete Higher Order Sliding Mode: Concept to Validation", IET Control Theory and Applications, Vol. 11, Issue. 8, pp. 1098-1103, May 2017.

A. Dey, S. Sen, "Describing function-based Approximations of Biomolecular Systems", IET Systems Biology, 10.1049/iet-syb.2017.0026, 2017.

S. Sen, D. Apurva, R. Satija, D. Siegal, R. M. Murray, "Design of a Toolbox of RNA Thermometers", ACS Synthetic Biology, 6(8), 1461-1470, 10.1021/acssynbio.6b00301, 2017.



Year : 2016


M. Bhadu, N. S. Tripathy, I. N. Kar and N. Senroy, "Event-triggered communication in wide-area damping control: A limited output feedback based approach", IET Generation, Transmission & Distributions, 2016.

Soumic Sarkar and I. N. Kar, "Formation of multiple groups of mobile robots: Multi-timescale convergence perspective", Nonlinear Dynamics, (Springer), Vol.85, No.4, PP.2611-2627, 2016.

Spandan Roy and I. N. Kar, "Adaptive robust tracking control of a class of nonlinear systems with input delay", Nonlinear Dynamics, (Springer), Vol.85, No.2, PP.1127-1139, 2016.

M. Bhadu, N. Senroy, I. N. Kar and G. N. Sudha, "Robust linear quadratic Gaussian based discrete mode wide area power system damping controller", IET Generation, Transmission & Distribution,V. 10 (6), 1470-1478, 2016.

G. P. Prajapat, N. Senroy, I. N. Kar, "Eigenvalue sensitivity analysis based optimized control of wind energy conversion systems", Innovative Smart Grid Technologies-Asia (ISGT-Asia), 2016 IEEE, 647-652, 2016.

N. S. Gayathri, N. Senroy, I. N. Kar, "Smoothing of wind power using flywheel energy storage system", IET Renewable Power Generation 11 (3), 289-298, 2016.

N. S. Tripathy, I. N. Kar, K. Paul, "Model Based Robust Control Law for Linear Event‐Triggered System", Asian Journal of Control 18 (5), 1765-1780, 2016.

S. Roy, I. N. Kar, "Adaptive robust tracking control of a class of nonlinear systems with input delay", Nonlinear Dynamics 85 (2), 1127-1139, 2016.

M. Bhadu, N. Senroy, I. N. Kar, G. N. Sudha, "Robust linear quadratic Gaussian-based discrete mode wide area power system damping controller", IET Generation, Transmission & Distribution 10 (6), 1470-1478, 2016.

Sayan Basu Roy, Shubhendu Bhasin, Indra Narayan Kar, "Memory-based data-driven MRAC architecture ensuring parameter convergence", arXiv preprint arXiv:1602.00482, 2016.

K. Mukherjee, I. N. Kar, R. K. P. Bhatt, "Adaptive gravity compensation and region tracking control of an AUV without velocity measurement", International Journal of Modelling, Identification and Control 25 (2), 154-154, 2016.

M. Bhadu, N. S. Tripathy, I. N. Kar, N. Senroy, "Event-triggered Communication in Wide-area Damping Control: A Limited Output Feedback Based Approach", IET Generation, Transmission & Distribution, 2016.

P. M. Tiwari, S. Janardhanan and Mashuq un Nabi, "Attitude control using higher order sliding mode", Aerospace Science and Technology, Vol. 54, pp. 108-113, July 2016 . (doi:10.1016/j.ast.2016.04.012)

Mahendra Bhadu, Nilanjan Senroy and S. Janardhanan, "Discrete Wide Area Power System Damping Controller using Periodic Output Feedback", Electric Power Componnts and Systems, Vol. 44, Issue. 17, pp. 1892-1903, 2016.

S. Sen, " Transient response characteristics in a biomolecular integral controller", IET systems biology, 10(2), pp.57-63, 2016



Year : 2015


P. Guha, M. Nabi, "Reduced Order Modeling of a Microgripper using SVD-Second-Order Krylov Method", International Journal for Computational Methods in Engineering Science & Mechanics, Taylor & Francis, 16, 65-70, 2015.

Majeed M and I. N. Kar, "Stochaistic contraction based observer and controller design algorithm with application to a flight vehicle"," International Journal of Control, V.88 (11),2291-2304, 2015.

N.S. Tripathy, I. N. Kar and K. Paul, "Model based robust control law for linear event-triggered systems", Asian Journal of Control, 2015.

Manjusha Bhave, S. Janardhanan and L. Dewan, "A Smart Higher Order Sliding Mode Control of Rigid Articulated Manipulator with Passive Joints", International Journal of Modeling Identification and Control, Vol. 23, No. 3, pp. 260-266, 2015.(doi : 10.1504/IJMIC.2015.069933)

P. Guha, M. Nabi, "Reduced Order Finite Element Modeling of a Nonlinear System: An Application to Induction Heating System", International Journal of Engineering Systems Modelling and Simulation, (Inderscience).

R. Kamalapurkar, H. Dinh, S. Bhasin, and W. E. Dixon, "Approximate Optimal Trajectory Tracking for Continuous-time Nonlinear Systems", Automatica, Vol. 51, pp. 40-48, 2015.

Koena Mukherjee, I. N. Kar, R. K. P Bhatt, "Region Tracking Based Control of an Autonomous Underwater Vehicle with Input Delay", Ocean Engineering, Elsevier, Volume 99, pp. 107-114, 2015.

P. M. Tiwari, S. Janardhanan and Mashuq un Nabi, "Rigid Spacecraft Attitude Control using Adaptive Non-singular Fast Terminal Sliding Mode", Journal of Control, Automation and Electrical Sciences, Vol. 26, No. 2, pp. 115--124, 2015. (doi : 10.1007/s40313-014-0164-0)

P. M. Tiwari, S. Janardhanan and Mashuq un Nabi, "Rigid spacecraft attitude control using adaptive integral second order sliding mode", Aerospace Science and Technology, Vol. 42, pp. 50-57, Apr-May 2015 (doi : 10.1016/j.ast.2014.11.017)

Koena Mukherjee, I. N. Kar, and R. K. P Bhatt, "Adaptive Gravity Compensation and Region Tracking Control of an AUV without Velocity Measurement", International Journal of Modeling, Identification and Control, (Manuscript no: IJMIC 99511), 2015.



Year : 2014


M. Johnson, R. Kamalapurkar, S. Bhasin, and W. E. Dixon, "Approximate N-Player Nonzero-Sum Game Solution for an Uncertain Continuous Nonlinear System", IEEE Transactions on Neural Networks and Learning Systems, pp. 1-14, 2014.

P. Mukhija, I. N. Kar and R.K.P. Bhatt, "Robust absolute stability criteria for uncertain Lurie system with interval time-varying delay", ASME Journal of Dynamic Systems, Measurement and Control, vol. 136, 2014.

Koena Mukherjee, I. N. Kar, and R. K. P. Bhatt, "Region tracking controller for Autonomous Underwater Vehicle without velocity measurement", International Conference on Modeling, Identification and Control (ICMIC) , pp. 213 218, 3rd -5th Dec 2014.

Neeli Satyanarayana and S. Janardhanan, "Open-loop Functional Observer and State Feedback for Linear Systems using Multirate Output Sampling", Asian Journal of Control, Vol. 16, No. 6, pp. 1897-1902, Nov. 2014. doi: 10.1002/asjc.851.

ManjushaBhave, S. Janardhanan and L. Dewan, "A Finite Time Convergent Sliding Mode Control for Rigid Underactuated Robotic Manipulator", Systems Science and Control Engineering, Vol. 2, No.1, pp. 493-499, 2014. doi: 10.1080/21642583.2014.921585.

Sandeep Kaur and S. Janardhanan, "Second Order Sliding Mode Controller and On-line Path Planning for Space Rovers", International Journal of Modeling, Identification and Control, Vol. 21, No. 3, pp. 321-329, Apr. 2014. doi: 10.1504/IJMIC.2014.060735.

H. T. Dinh, R. Kamalapurkar, S. Bhasin, and W. E. Dixon, "Dynamic Neural Network-based Robust Observers for Uncertain Nonlinear Systems", Neural Networks, pp. 44-52, 2014.



Year : 2013


S. Bhasin, R. Kamalapurkar, M. Johnson, K. G. Vamvoudakis, F. L. Lewis, W. E. Dixon, "A novel actor-critic-identifier architecture for approximate optimal control of uncertain nonlinear systems", Automatica, Vol. 49, No. 1, pp. 89-92, 2013.

S. Bhasin, R. Kamalapurkar, H. Dinh, and W. E. Dixon, "Robust identification-based state derivative estimation for nonlinear systems", IEEE Transactions on Automatic Control, Vol. 58, No. 1, pp. 187-192, 2013.

Shahkar Ahmad Nahvi, Mashuq un Nabi and S. Janardhanan, "Nonlinearity-aware sub-model combination in trajectory based methods for nonlinear MOR", Mathematics and Computers in Simulation, Vol. 94, pp. 127-144, Aug. 2013.

Shahkar Ahmad Nahvi, Mashuq-un-Nabi, S. Janardhanan, "Trajectory Piece-wise quasi-linear approximation of large nonlinear dynamic systems", International Journal of Modeling, Identification and Control, Vol. 19, No. 4, pp. 369-377, Aug. 2013.

Shahkar Ahmad Nahvi, Mashuq-un-Nabi, S. Janardhanan, "AFAS - Adaptive Fast Approximate Simulation for nonlinear model reduction", International Journal of Modeling, Identification and Control, Vol. 19, No. 2, pp. 113-124, May 2013.

Mohammad Abid Bazaz, Mashuq-un-Nabi and S Janardhanan, "Automated and Efficient Order Selection in Krylov based Model Order Reduction", International Journal of Modeling, Identification and Control, Vol. 18, No. 4, pp. 332-340, 2013.

Mohammad Abid Bazaz, Mashuq un Nabi and S Janardhanan, "Modelling and Simulation Strategy for Parametric Transient Electromagnetic Simulations", International Journal of Modeling, Identification and Control, Vol. 18, No. 3, pp. 251-260, 2013.

Neeli Satyanarayana and S. Janardhanan, "Multirate output sampling linear functional observer based state feedback for systems with delay in state variables", International Journal of Modeling, Identification and Control, Vol. 20, No. 1, pp. 47-55, Sep. 2013.

Manjusha Bhave, S. Janardhanan and Lillie Dewan, "An Efficient Control of Rigid Robotic Manipulator with Uncertainties using Higher Order Sliding Mode Control", International Journal of Modeling, Identification and Control, Vol. 19, No. 2, pp. 179-185, May 2013.

Majeed M and I. N. Kar, "Design and convergence analysis of stochaistic frequency estimator using contraction theory", IET Signal Processing, 7(5),389-399, 2013.



Year : 2012


Pyare Mohan Tiwari, S. Janardhanan and Mashuq-un-Nabi, "Spacecraft Attitude Control using Non-singular Finite Time Convergence Fast Terminal Sliding Mode", International Journal of Instrumentation Technology, Vol. 1, No. 2, pp. 124-142, 2012 doi : 10.1504/IJIT.2012.053289.

N. Sharma, S. Bhasin, Q. Wang, and W. E. Dixon, "RISE-Based Adaptive Control of a Control Affine Uncertain Nonlinear System with Unknown State Delays", IEEE Transactions on Automatic Control, Vol. 57, No. 1, pp. 255-259, 2012.

P. Guha, M. Nabi, "Estimation of Errors for a POD based Reduced Order System: Application to Induction Heating", International Journal of Computational Methods in Engineering Science and Mechanics (IJCMESM- Taylor & Francis), Vol 13, No. 5, pp. 334-341, Oct. 2012.

Paramita Guha and Mashuq un Nabi, "Model Reduction and Controller Design of a Nonlinear Heat Conduction Problem using Finite Element Method", Int. Journal of Automation & Computing (IJAC-Springer), Vol. 9, No. 5, pp. 474-479, Oct. 2012.

S. Janardhanan and Rajesh Tiwari, "Controller design of Twin Spool Gas Turbine using Reduced Output Feedback Sliding Mode Control", IETE Journal of Research, Vol. 58, Issue. 5, pp. 367-374, Sep-Oct., 2012.