Din, S.U.Khan, Q.Rehman, F.-U.Akmeliawati, R.2020-05-202020-05-202018IEEE Access, 2018; 6:1927-19392169-35362169-3536http://hdl.handle.net/2440/124815Date of publication December 7, 2017, date of current version February 14, 2018. This article was published twice. The other version should not be considered for citation purposes, published in IEEE Access, Vol. 5, pp. 10068-10080, 2017, DOI 10.1109/ACCESS.2017.2712261.This paper presents a comprehensive comparative study for the tracking control of a class of underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated system is, at rst stage, transformed into an input output form and the driving applied control input of the transformed system is then designed via four sliding mode control strategies, i.e., conventional rst order sliding mode control, second order sliding mode, fast terminal sliding mode, and integral sliding mode. At second stage, a ball and beam system is considered and the aforementioned four control design strategies are experimentally implemented. A comprehensive comparative study of the simulation and experimental results is then conducted which take into account the tracking performance, i.e., settling time, overshoots, robustness enhancement, chattering reduction, sliding mode convergences, and control efforts.en© 2017 IEEE. Translations and content mining are permitted for academic research only.Electromechanical system; sliding mode control; Lyapunov method; robust control; nonlinear systemsJournal article003012351910.1109/ACCESS.2017.2780889484081Akmeliawati, R. [0000-0003-0660-2312]